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

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.