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Barrier Function-Based Nonsingular Finite-Time Tracker for Quadrotor UAVs Subject to Uncertainties and Input Constraints

Author

Listed:
  • Khalid A. Alattas

    (Department of Computer Science and Artificial Intelligence, College of Computer Science and Engineering, University of Jeddah, Jeddah 23218, Saudi Arabia
    Khalid A. Alattas and Mai The Vu are first authors; these authors contributed equally to this work.)

  • Mai The Vu

    (School of Intelligent Mechatronics Engineering, Sejong University, Seoul 05006, Korea
    Khalid A. Alattas and Mai The Vu are first authors; these authors contributed equally to this work.)

  • Omid Mofid

    (Future Technology Research Center, National Yunlin University of Science and Technology, 123 University Road, Section 3, Douliu, Yunlin 64002, Taiwan)

  • Fayez F. M. El-Sousy

    (Department of Electrical Engineering, Prince Sattam Bin Abdulaziz University, Al Kharj 11942, Saudi Arabia)

  • Afef Fekih

    (Department of Electrical and Computer Engineering, University of Louisiana at Lafayette, Lafayette, LA 70503, USA)

  • Saleh Mobayen

    (Future Technology Research Center, National Yunlin University of Science and Technology, 123 University Road, Section 3, Douliu, Yunlin 64002, Taiwan)

Abstract

This study proposes an adaptive barrier functions-based non-singular terminal sliding mode control approach for the trajectory tracking of a quadrotor unmanned aerial vehicle subject to bounded uncertainties and input constraints. First, the state-space equations of the six degrees-of-freedom quadrotor system is introduced in the presence of bounded uncertainty and constrained input. Then, a compensation system is designed with the aim of removing the constrained input and leading to high performance. Afterwards, a linear switching surface is defined using the tracking error and virtual control input to guarantee the convergence of the tracking error in the presence of parametric uncertainties and input saturation. Later, a non-singular terminal sliding surface is proposed for fast convergence of the linear switching surface. To eliminate the need for approximating the upper bounds of uncertainties and ensure the fast convergence of the non-singular terminal sliding surface to a pre-specified neighborhood of the origin, we considered an adaptive barrier function scheme. The fast convergence rate of the proposed approach is verified via the Lyapunov stability theory. The accuracy and performance of the proposed approach is assessed using MATLAB/Simulink simulations and robustness analysis using the random number noise.

Suggested Citation

  • Khalid A. Alattas & Mai The Vu & Omid Mofid & Fayez F. M. El-Sousy & Afef Fekih & Saleh Mobayen, 2022. "Barrier Function-Based Nonsingular Finite-Time Tracker for Quadrotor UAVs Subject to Uncertainties and Input Constraints," Mathematics, MDPI, vol. 10(10), pages 1-16, May.
    • Handle: RePEc:gam:jmathe:v:10:y:2022:i:10:p:1659-:d:814251
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    References listed on IDEAS

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    1. Yongliang Zhan & Shuai Sui & Shaocheng Tong, 2021. "Adaptive fuzzy decentralised control for fractional-order interconnected nonlinear systems with input saturation," International Journal of Systems Science, Taylor & Francis Journals, vol. 52(13), pages 2689-2703, October.
    2. Du, Haibo & Yu, Bo & Wei, Jiajia & Zhang, Jun & Wu, Di & Tao, Weiqing, 2020. "Attitude trajectory planning and attitude control for quad-rotor aircraft based on finite-time control technique," Applied Mathematics and Computation, Elsevier, vol. 386(C).
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    Cited by:

    1. Amin Najafi & Mai The Vu & Saleh Mobayen & Jihad H. Asad & Afef Fekih, 2022. "Adaptive Barrier Fast Terminal Sliding Mode Actuator Fault Tolerant Control Approach for Quadrotor UAVs," Mathematics, MDPI, vol. 10(16), pages 1-22, August.
    2. Ayman A. Aly & Mai The Vu & Fayez F. M. El-Sousy & Ahmed Alotaibi & Ghassan Mousa & Dac-Nhuong Le & Saleh Mobayen, 2022. "Fuzzy-Based Fixed-Time Nonsingular Tracker of Exoskeleton Robots for Disabilities Using Sliding Mode State Observer," Mathematics, MDPI, vol. 10(17), pages 1-19, September.

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