NTSM Based Finite-Time Consensus Control for a Networked of Quadrotor Vehicles With Disturbances

Abstract

This paper presents nonsingular terminal sliding mode-based robust finite-time consensus tracking protocols for the network of leader-follower quadrotor aerial vehicles with disturbances. The consensus protocols for attitude subsystem dynamics are designed by combining velocity consensus errors and nonsingular terminal sliding mode state vectors of the local and neighbouring vehicles. The protocols for position subsystem dynamics are constructed by using velocity consensus errors and terminal sliding mode states of the local and neighbouring vehicles. Robust adaptive learning algorithms are also integrated with the protocols for both position and attitude dynamics to learn and adapt to the modelling error and other external disturbances. Learning algorithms also introduce the protocols to learn and adapt the bound of the input of the quadrotor leader vehicle. The protocols design and analysis are assumed that the vehicles are connected by local area communication networks. Lyapunov and terminal sliding mode control method uses to show that the protocols can reach an agreement with follower vehicles and converge to the states of the leader vehicle in finite time. The design and analysis are assumed that the attitude dynamics of the vehicle are faster than the position dynamics. The consensus protocols can ensure finite-time tracking as opposed to the existing asymptotic tracking system. The protocols design is simple and easy to implement as they do not need exact bound of the disturbances that appear from external disturbances and the modelling errors. Moreover, in contrast with the convergence of other distributed designs, the design ensures faster and more robust consensus as opposed to existing asymptotic tracking design against disturbances.