Robust Trajectory Tracking Control for a Quadrotor UAV with Input Constraints

Abstract

This paper mainly investigates the robust problem of sliding mode trajectory tracking control of a quadrotor unmanned aerial vehicle (UAV) with input constraints. A sliding mode control approach that considers input constraints is developed to address it. To deal with the control input constraints, an auxiliary system is presented to compensate the control inputs via using its state variables. Simultaneously, the trajectory tracking errors that include the state variables of auxiliary system are defined. Then, according to Lyapunov stability theory and sliding mode control theory, suitable sliding mode surfaces are constructed and corresponding controllers are designed such that the system is asymptotically stable. Finally, the simulation results are given to confirm the availability of the developed sliding mode control approach.