Adaptive Finite-Time Backstepping Global Sliding Mode Tracker of Quad-Rotor UAVs Under Model Uncertainty, Wind Perturbation, and Input Saturation

In this article, an adaptive backstepping global sliding mode control method is designed at the aim of finite-time tracking control for attitude and position of the quad-rotor unmanned aerial vehicles in the existence of input saturation, model uncertainty, and wind perturbation. Whereas the existence of the input saturation leads to the complexity in the controller design, a compensation system is considered and applied in order to remove the limitations in the controller design. Then, a global sliding surface based on the tracking error, fast reaching part, and integral of virtual control input is considered. Also, for the approximation of the unknown upper bounds of model uncertainty and wind perturbation, an adaptive control procedure is used. Besides, the finite-time tracking control of desired attitude and position of quad-rotor is proved based on the Lyapunov theory concept using backstepping control process. At last, simulation results are provided in two different scenarios to show the effectiveness of the proposed method.

Automated summary

In this article, an adaptive backstepping global sliding mode control method is proposed for finite-time tracking control of attitude and position of quad-rotor unmanned aerial vehicles in the presence of input saturation, model uncertainty, and wind perturbation. A compensation system is applied to remove the limitations in controller design caused by input saturation. The unknown upper bounds of model uncertainty and wind perturbation are approximated by an adaptive control procedure. The effectiveness of the proposed method is demonstrated through simulation results in two different scenarios.