Barrier Function Adaptive Nonsingular Terminal Sliding Mode Control Approach for Quad-Rotor Unmanned Aerial Vehicles

• Published in: Sensors (Basel, Switzerland) Vol. 22; no. 3; p. 909
• Main Authors: Alattas, Khalid A., Mofid, Omid, Alanazi, Abdullah K., Abo-Dief, Hala M., Bartoszewicz, Andrzej, Bakouri, Mohsen, Mobayen, Saleh
• Format: Journal Article
• Language: English
• Published: Switzerland MDPI AG 25.01.2022; MDPI
• Subjects: adaptive law; barrier function technique; Design; Drone aircraft; Laws, regulations and rules; matched disturbance; Military helicopters; non-singular terminal sliding mode; quad-rotor system; Unmanned aerial vehicles; Saudi Arabia; barrier function technique; matched disturbance; adaptive law; non-singular terminal sliding mode; quad-rotor system
• ISSN: 1424-8220; 1424-8220
• DOI: 10.3390/s22030909

This paper proposes a barrier function adaptive non-singular terminal sliding mode controller for a six-degrees-of-freedom (6DoF) quad-rotor in the existence of matched disturbances. For this reason, a linear sliding surface according to the tracking error dynamics is proposed for the convergence of tracking errors to origin. Afterward, a novel non-singular terminal sliding surface is suggested to guarantee the finite-time reachability of the linear sliding surface to origin. Moreover, for the rejection of the matched disturbances that enter into the quad-rotor system, an adaptive control law based on barrier function is recommended to approximate the matched disturbances at any moment. The barrier function-based control technique has two valuable properties. First, this function forces the error dynamics to converge on a region near the origin in a finite time. Secondly, it can remove the increase in the adaptive gain because of the matched disturbances. Lastly, simulation results are given to demonstrate the validation of this technique.