Robust Finite-Time Trajectory Tracking Control for Quadrotor UAVs With Uncertainties, External Disturbances, and Input Saturation

Abstract

This paper addresses the finite-time trajectory tracking control problem for quadrotor UAVs under model uncertainties, external disturbances, and input saturation. A robust finite-time trajectory tracking control scheme is proposed by following steps. First, a nominal controller is established based on integral terminal sliding mode control. Second, an auxiliary system is used to address the input saturation constraint problem. It effectively restricts inputs from exceeding the bounds. Third, a reinforcement learning component is designed to estimate and compensate for model uncertainties and external disturbances. Then, a robust finite-time scheme is constructed by integrating the nominal controller, the reinforcement learning compensating component, and the auxiliary system. Theoretical analysis verifies that the finite-time stability of controlled systems can be guaranteed by the proposed tracking control scheme, and the tracking error can be driven to a compact set in finite time. Furthermore, simulation results confirm the effectiveness of the proposed control scheme.