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

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

YOU? · · 2020 · Open Access · · DOI: https://doi.org/10.1109/access.2020.3041262

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.

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Control theory (sociology) Robustness (evolution) Lyapunov function Computer science Robust control Trajectory Sliding mode control Multirotor Convergence (economics) Control system Engineering Control (management) Nonlinear system Artificial intelligence Gene Aerospace engineering Quantum mechanics Economics Physics Chemistry Economic growth Electrical engineering Biochemistry Astronomy

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Type: article
Language: en
Landing Page: https://doi.org/10.1109/access.2020.3041262
PDF: https://ieeexplore.ieee.org/ielx7/6287639/6514899/09273006.pdf
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Cited By: 25
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DOI: https://doi.org/10.1109/access.2020.3041262

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

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Publication year: 2020

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Authors: Abid Raza, Fahad Mumtaz Malik, Naveed Mazhar, Hameed Ullah, Rameez Khan

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Landing page: https://doi.org/10.1109/access.2020.3041262

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Concepts: Control theory (sociology), Robustness (evolution), Lyapunov function, Computer science, Robust control, Trajectory, Sliding mode control, Multirotor, Convergence (economics), Control system, Engineering, Control (management), Nonlinear system, Artificial intelligence, Gene, Aerospace engineering, Quantum mechanics, Economics, Physics, Chemistry, Economic growth, Electrical engineering, Biochemistry, Astronomy

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Cited by: 25

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Citations by year (recent): 2024: 6, 2023: 4, 2022: 5, 2021: 10

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