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

Abstract

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.