Finite Time Control on Unit Sphere with an Application to Trajectory Tracking Control of UAVs

Abstract

This paper considers the problem of trajectory tracking control on a two sphere. A continuous control strategy for ensuring almost global finite-time stable tracking on a two sphere is presented. Robustness of the control scheme with respect to added external disturbance inputs are evaluated. Then, the finite-control scheme is employed to develop a position tracking controller for an unmanned aerial vehicle (UAV). UAV control is split into a position and attitude control schemes. The position controller produces a desired thrust direction on the two sphere, which is tracked by the finite time reduced attitude tracking control algorithm. The stability is proved analytically and numerical simulations demonstrate the effectiveness of the suggested control algorithm.