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

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

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...

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Bibliographic Details
Main Authors: Khalid A. Alattas, Omid Mofid, Abdullah K. Alanazi, Hala M. Abo-Dief, Andrzej Bartoszewicz, Mohsen Bakouri, Saleh Mobayen
Format: Article
Language:English
Published: MDPI AG 2022-01-01
Series:Sensors
Subjects:
quad-rotor system
barrier function technique
adaptive law
non-singular terminal sliding mode
matched disturbance
Online Access:https://www.mdpi.com/1424-8220/22/3/909

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