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 | |
| 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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