Work

Robust Finite‐Time Trajectory Tracking Control for Quadrotor UAVs With Uncertainties, External Disturbances, and Input Saturation

Year: 2025

Type: article

Abstract: ABSTRACT This paper addresses the finite‐time trajectory tracking control problem for quadrotor UAVs under model uncertainties, external disturbances, and input saturation. A robust finite‐time trajectory tracking control scheme is proposed by following steps. First, a nominal controller is established based on integral terminal sliding mode control. Second, an auxiliary system is used to address the input saturation constraint problem. It effectively restricts inputs from exceeding the bounds. Third, a reinforcement learning component is designed to estimate and compensate for model uncertainties and external disturbances. Then, a robust finite‐time scheme is constructed by integrating the nominal controller, the reinforcement learning compensating component, and the auxiliary system. Theoretical analysis verifies that the finite‐time stability of controlled systems can be guaranteed by the proposed tracking control scheme, and the tracking error can be driven to a compact set in finite time. Furthermore, simulation results confirm the effectiveness of the proposed control scheme.

Source: IET Control Theory and Applications

DOI: 10.1049/cth2.70031

Authors: Yuanyuan Fei, Jiayi Zhou, Junhe Zhang, Yao Yu, Changyin Sun

Institutions: University of Science and Technology Beijing, Southeast University

Language: English

Topic: Adaptive Control of Nonlinear Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $3,300

Funder: National Natural Science Foundation of China