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<p>This paper explores unmanned aerial vehicle (UAV) tracking control in the presence of actuator faults and external disturbances. An advanced barrier function-based prescribed performance sliding mode control (PPSMC) technique is developed to enhance UAV tracking robustness under these conditions. The approach starts by modeling the UAV dynamics with actuator faults and external disturbances. Tracking errors are then defined relative to the UAV’s actual and desired states, allowing for the design of an appropriate switching surface. A prescribed performance control (PPC) is applied to improve reachability and transient response. The advanced barrier function is utilized to counteract the effects of actuator faults and disturbances, enhancing overall UAV performance. The PPSMC approach is validated using Lyapunov stability theory, demonstrating that tracking errors converge to a small neighborhood around the origin. Simulation results obtained using MATLAB/Simulink and real-time experiments conducted on a Speedgoat machine verify the effectiveness of the proposed PPSMC approach with an advanced barrier function, confirming its suitability for maintaining UAV tracking performance in challenging conditions.</p>

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Robust UAV tracker under actuator faults and external disturbances using a barrier function-based prescribed performance sliding mode control approach

  • 期刊论文

  • 发表日期：

    2025年2月25日

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  • Saleh Mobayen,
  • Kuo-Hsien Hsia,
  • Omid Mofid,
  • Seyyed Sajjad Moosapour,
  • Thaned Rojsiraphisal

摘要

This paper explores unmanned aerial vehicle (UAV) tracking control in the presence of actuator faults and external disturbances. An advanced barrier function-based prescribed performance sliding mode control (PPSMC) technique is developed to enhance UAV tracking robustness under these conditions. The approach starts by modeling the UAV dynamics with actuator faults and external disturbances. Tracking errors are then defined relative to the UAV’s actual and desired states, allowing for the design of an appropriate switching surface. A prescribed performance control (PPC) is applied to improve reachability and transient response. The advanced barrier function is utilized to counteract the effects of actuator faults and disturbances, enhancing overall UAV performance. The PPSMC approach is validated using Lyapunov stability theory, demonstrating that tracking errors converge to a small neighborhood around the origin. Simulation results obtained using MATLAB/Simulink and real-time experiments conducted on a Speedgoat machine verify the effectiveness of the proposed PPSMC approach with an advanced barrier function, confirming its suitability for maintaining UAV tracking performance in challenging conditions.