Finite-time disturbance observer-based trajectory tracking control for quadrotor unmanned aerial vehicle with obstacle avoidance

Bo Li, Haichao Zhang, Yuxiao Niu, Dechao Ran, Bing Xiao

Research output: Contribution to journalArticlepeer-review

18 Scopus citations

Abstract

This paper investigates the problem of trajectory tracking control for quadrotor unmanned aerial vehicle (UAV) in the presence of dynamic obstacles and external disturbance forces/torques. More specifically, two new sliding mode disturbance observers are firstly designed to estimate the external disturbances, in which the observation errors can converge to zero in finite time. Furthermore, utilizing the observation information, a new sliding mode surface-like variable-based position tracking control scheme and a novel nonsingular terminal sliding mode-based attitude synchronization control scheme are developed to drive the UAV tracking the reference trajectory with obstacle avoiding. Moreover, the tracking errors of the close-loop control system can converge to zero within finite time by the analyses of Lyapunov methodology. Finally, the numerical simulation results are presented to illustrate the effectiveness of the proposed control schemes.

Original languageEnglish
Pages (from-to)1096-1110
Number of pages15
JournalMathematical Methods in the Applied Sciences
Volume46
Issue number1
DOIs
StatePublished - 15 Jan 2023

Keywords

  • collision avoidance
  • finite-time control
  • quadrotor UAV
  • sliding mode control
  • trajectory tracking control

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