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

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

doi:10.1109/ACCESS.2020.3041262

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

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

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

27 Scopus citations

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.

Original language	English
Article number	9273006
Pages (from-to)	215603-215612
Number of pages	10
Journal	IEEE Access
Volume	8
DOIs	https://doi.org/10.1109/ACCESS.2020.3041262
State	Published - 2020
Externally published	Yes

Bibliographical note

Publisher Copyright:
© 2013 IEEE.

Keywords

Barrier function
finite-time convergence
output constraint
quadrotor UAV
sliding mode control
trajectory tracking

ASJC Scopus subject areas

General Computer Science
General Materials Science
General Engineering

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10.1109/ACCESS.2020.3041262

Cite this

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title = "Finite-Time Trajectory Tracking Control of Output-Constrained Uncertain Quadrotor",

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.",

keywords = "Barrier function, finite-time convergence, output constraint, quadrotor UAV, sliding mode control, trajectory tracking",

author = "Abid Raza and Malik, \{Fahad Mumtaz\} and Naveed Mazhar and Hameed Ullah and Rameez Khan",

note = "Publisher Copyright: {\textcopyright} 2013 IEEE.",

year = "2020",

doi = "10.1109/ACCESS.2020.3041262",

language = "English",

volume = "8",

pages = "215603--215612",

journal = "IEEE Access",

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AU - Raza, Abid

AU - Malik, Fahad Mumtaz

AU - Mazhar, Naveed

AU - Ullah, Hameed

AU - Khan, Rameez

PY - 2020

Y1 - 2020

N2 - 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.

AB - 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.

KW - Barrier function

KW - finite-time convergence

KW - output constraint

KW - quadrotor UAV

KW - sliding mode control

KW - trajectory tracking

UR - https://www.scopus.com/pages/publications/85097411483

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DO - 10.1109/ACCESS.2020.3041262

M3 - Article

AN - SCOPUS:85097411483

SN - 2169-3536

VL - 8

SP - 215603

EP - 215612

JO - IEEE Access

JF - IEEE Access

M1 - 9273006

ER -

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

Abstract

Bibliographical note

Keywords

ASJC Scopus subject areas

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