Input Delay Compensation via Barrier Lyapunov and Fuzzy Padé Approximation for Precise Trajectory Tracking for Quadrotor UAVs

This paper introduces a robust control strategy that accommodates input delay, a factor that is often overlooked yet crucial in real-world UAV applications, to resolve the critical position control challenge for quadrotor unmanned aerial vehicles (UAVs). To guarantee trajectory accuracy and preserve error boundaries, a Barrier Lyapunov Function (BLF) is implemented, which reinforces system stability by restricting the tracking error to a predetermined range. Moreover, the control framework effectively reduces the impact of the input latency on system performance by utilising an intermediate variable and a Fuzzy Padé approximation method. The control method that has been developed allows for the precise tracking of UAVs' trajectory. The approach is validated by the simulation results, which emphasise its suitability for sustainable and mission-critical operations.