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

被引：17
|
作者：
Raza, Abid [1 ]
Malik, Fahad Mumtaz [1 ]
Mazhar, Naveed [1 ]
Ullah, Hameed [1 ]
Khan, Rameez [1 ]
机构：
[1] Natl Univ Sci & Technol, Coll Elect & Mech Engn, Islamabad 44000, Pakistan
来源：
IEEE ACCESS | 2020年 / 8卷
关键词：
Unmanned aerial vehicles; Uncertainty; Convergence; Stability analysis; Robustness; Backstepping; Asymptotic stability; Barrier function; finite-time convergence; output constraint; quadrotor UAV; sliding mode control; trajectory tracking; SLIDING MODE CONTROL; HELICOPTER; VEHICLE;
D O I：
10.1109/ACCESS.2020.3041262
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：215603 / 215612
页数：10
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