Adaptive Finite-time Trajectory Tracking Control of Unmanned Aerial Vehicles

In regard to the UAV trajectory tracking that simultaneously satisfies the time and space constraints, an adaptive finite-time trajectory tracking control algorithm is proposed. An adaptive estimator is designed to promptly estimate and compensate the unknown disturbances imposed during the trajectory tracking process, so that the UAV can successfully track the desired trajectory in a finite time. To meet the control requirements of along-track and cross-track error distances in the UAV trajectory tracking control history, a barrier Lyapunov function is constructed to limit the along-track and cross-track error of the UAV. Simulation results verify that the proposed adaptive finite-time trajectory tracking control algorithm achieves satisfactory performance, and can track the desired trajectory promptly and accurately.

I. Introduction

The trajectory tracking control of Unmanned Aerial Vehicles (UAV) has attracted increasing attention during the past decades due to its various applications in environment monitoring, exploration and rescue [1], [2]. With the increasing expansion of application fields of UAV, flight missions and environment have been increasingly complex. To ensure the successful execution of flight missions, higher capabilities requirements have been proposed for UAV trajectory tracking control. Many interesting results on trajectory tracking control have been covered in the literature [3]~ [5].