Abstract
This paper proposes a barrier function adaptive non-singular terminal sliding mode controller for a six-degrees-of-freedom (6DoF) quad-rotor in the existence of matched disturbances. For this reason, a linear sliding surface according to the tracking error dynamics is proposed for the convergence of tracking errors to origin. Afterward, a novel non-singular terminal sliding surface is suggested to guarantee the finite-time reachability of the linear sliding surface to origin. Moreover, for the rejection of the matched disturbances that enter into the quad-rotor system, an adaptive control law based on barrier function is recommended to approximate the matched disturbances at any moment. The barrier function-based control technique has two valuable properties. First, this function forces the error dynamics to converge on a region near the origin in a finite time. Secondly, it can remove the increase in the adaptive gain because of the matched disturbances. Lastly, simulation results are given to demonstrate the validation of this technique.
Highlights
The small type of unmanned aerial vehicles (UAVs) is named a quad-rotor, which has received significant consideration over the past decades [1,2]
Most designed control methods for quad-rotor systems focus on the position and attitude of the desired tracking control of the quad-rotor system, which forces the quad-rotor into the desired location [7,8,9]
The simulation outcomes using the barrier function-based adaptive nonsingular terminal sliding mode control (TSMC) approach are depicted in two different subsections
Summary
The small type of unmanned aerial vehicles (UAVs) is named a quad-rotor, which has received significant consideration over the past decades [1,2]. In order to obtain a better performance when disturbances occur, an adaptive non-singular TSMC scheme is applied Another issue in the design of controllers for the quad-rotor is the consideration of the matched disturbances, which always exist in practice [20,21,22,23,24,25]. According to the review of the recent articles about attitude and position tracking control of quad-rotors in the presence of matched disturbances, it can be concluded that no work has investigated the adaptive barrier function technique using the non-singular. Finite-time tracking control and disturbance rejection of the quad-rotor system in the presence of matched disturbances are investigated based on the adaptive nonsingular TSMC method using the barrier function theory.
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