Robust Finite-Time Adaptive Flight Controller for Trajectory Tracking of a Quad-Rotor UAV Using a Recursive Sliding Mode Control Approach

Alvarez C.M.C.; Pariapaza E.D.C.; Pari L. · SSRG International Journal of Electrical and Electronics Engineering (2025) · DOI: 10.14445/23488379/ijeee-v12i10p115

Resumen

This study addresses the trajectory tracking problem of an underactuated quad-rotor subjected to perturbations and uncertainties of modeling using a finite-time adaptive robust control approach. Considering the nonlinear, highly coupled, and underactuated nature of the 6DOF quad-rotor dynamics, the control system is decomposed into two subsystems: fully actuated and underactuated. A novel recursive sliding mode controller technique is developed for both subsystems, combining a PID-type sliding manifold with a fast terminal integral sliding manifold. Additionally, robust adaptive rules are developed to estimate the uncertain upper bound of exogenous perturbations. The proposed control approach ensures that the tracking errors of each subsystem stabilize at the origin within finite time and remain within a bounded neighborhood, even in the presence of large perturbations. A rigorous theoretical analysis based on Lyapunov theory is conducted to demonstrate the finite-time stability of each control subsystem. Finally, the performance of the developed control framework is validated through simulations in Matlab/Simulink, as well as through its implementation in ROS/Gazebo. A comparative analysis is also conducted against previously reported underactuated control strategies in the literature. Performance metrics such as RMSE and settling time are employed to verify the superiority of the developed method.

Instituciones: Universidad Nacional de San Agustín de Arequipa