Finite-Time Trajectory Tracking Control of Output-Constrained Uncertain Quadrotor

Abid Raza,Rameez Khan,Fahad Mumtaz Malik,Naveed Mazhar,Hameed Ullah

doi:10.1109/access.2020.3041262

Abstract

In this article, a finite-time robust tracking control of output constrained multirotor unmanned aerial vehicle (UAV) is proposed. A finite-time sliding mode control (SMC) technique with barrier Lyapunov function (BLF) is used to assure robustness of the derived control laws while maintaining the output in specified constraints. A comparison of the proposed controller is carried out with conventional SMC to manifest the effectiveness of the output-constrained tracking control. Numerical simulations of quadrotor UAV with exogenous disturbances and time-invariant output constraints demonstrate the efficacy of the proposed controller regarding robustness, finite-time convergence, and chattering reduction.

Highlights

Robust control design of multirotor unmanned air vehicles (MUAVs) is one of the most explored topics in recent times
MUAVs suffer from different forms of perturbations and output constraints during flight missions
This article presents a robust nonlinear control technique for the output-constrained uncertain quadrotor unmanned aerial vehicle (UAV) based on the use of barrier Lyapunov function (BLF)

Summary

INTRODUCTION

Robust control design of multirotor unmanned air vehicles (MUAVs) is one of the most explored topics in recent times. Recent developments in nonlinear control techniques guarantee the convergence of system states within finite-time depending upon the initial conditions of the system. A second-order SMC for an output constrained system under external disturbances is developed in [30] This approach is based on BLF and finitetime convergence is attained while maintaining the output of the system in the desired constraints. The finite-time tracking for altitude and attitude systems of a quadrotor UAV is achieved under output constraints. The overall novelty of this article is two-fold: 1) a finite time SMC based tracking controller in conjunction with barrier Lyapunov function is devised for second-order systems. Numerical simulations of quadrotor UAV with exogenous disturbances and time-invariant output constraints demonstrate the efficacy of the proposed controller regarding robustness, finitetime convergence, and chattering reduction.

PROBLEM FORMULATION

PRELIMINARIES

TRAJECTORY TRACKING USING FINITE-TIME SMC WITHOUT OUTPUT-CONSTRAINTS

TRAJECTORY TRACKING USING FINITE-TIME SMC

SIMULATION RESULTS

CONCLUSION