Work

Robust trajectory tracking control for quadrotor UAVs with time input saturation constraints

Year: 2025

Type: article

Abstract: Considering the trajectory tracking challenges faced by quadrotor UAVs during flight due to input saturation, external disturbances, uncertainties in system parameters, unmodeled dynamics, etc., a finite-time input saturation robust trajectory tracking control method is proposed. To address external disturbances, a nonlinear disturbance observer is employed for real-time estimation. System parameter uncertainties are approximated using neural networks. Input saturation in the system is handled by an auxiliary system. Finite-time controllers based on backstepping design are implemented in both position and attitude control loops to control the system. By utilizing Lyapunov stability theory, it is proven that all error signals in the closed-loop system are bounded and converge. Simulation results confirm that the proposed control algorithm ensures precise trajectory tracking by quadrotor UAVs in finite time, demonstrating strong robust performance.

Source: Xibei Gongye Daxue Xuebao/Journal of Northwestern Polytechnical University

DOI: 10.1051/jnwpu/20254320295

Authors: Lingyuan ZHAO, Kun YAN, Tianli MA, Chaobo CHEN, Song GAO

Institution: Xi'an Technological 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: $1,162

OpenAlex ID: W4411032028