Barrier Function-Based Nonsingular Finite-Time Tracker for Quadrotor UAVs Subject to Uncertainties and Input Constraints

Khalid A. Alattas, Mai The Vu, Omid Mofid, Fayez F. M. El-Sousy, Afef Fekih and Saleh Mobayen
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Khalid A. Alattas: Department of Computer Science and Artificial Intelligence, College of Computer Science and Engineering, University of Jeddah, Jeddah 23218, Saudi Arabia
Mai The Vu: School of Intelligent Mechatronics Engineering, Sejong University, Seoul 05006, Korea
Omid Mofid: Future Technology Research Center, National Yunlin University of Science and Technology, 123 University Road, Section 3, Douliu, Yunlin 64002, Taiwan
Fayez F. M. El-Sousy: Department of Electrical Engineering, Prince Sattam Bin Abdulaziz University, Al Kharj 11942, Saudi Arabia
Afef Fekih: Department of Electrical and Computer Engineering, University of Louisiana at Lafayette, Lafayette, LA 70503, USA
Saleh Mobayen: Future Technology Research Center, National Yunlin University of Science and Technology, 123 University Road, Section 3, Douliu, Yunlin 64002, Taiwan

Mathematics, 2022, vol. 10, issue 10, 1-16

Abstract: This study proposes an adaptive barrier functions-based non-singular terminal sliding mode control approach for the trajectory tracking of a quadrotor unmanned aerial vehicle subject to bounded uncertainties and input constraints. First, the state-space equations of the six degrees-of-freedom quadrotor system is introduced in the presence of bounded uncertainty and constrained input. Then, a compensation system is designed with the aim of removing the constrained input and leading to high performance. Afterwards, a linear switching surface is defined using the tracking error and virtual control input to guarantee the convergence of the tracking error in the presence of parametric uncertainties and input saturation. Later, a non-singular terminal sliding surface is proposed for fast convergence of the linear switching surface. To eliminate the need for approximating the upper bounds of uncertainties and ensure the fast convergence of the non-singular terminal sliding surface to a pre-specified neighborhood of the origin, we considered an adaptive barrier function scheme. The fast convergence rate of the proposed approach is verified via the Lyapunov stability theory. The accuracy and performance of the proposed approach is assessed using MATLAB/Simulink simulations and robustness analysis using the random number noise.

Keywords: finite time control; unmanned aerial vehicle; siding mode control; adaptive control; uncertainty; input saturation (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2022
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (2)

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