@inproceedings{ca6efaf765f34099b83447f82816ff08,
title = "Barrier function-based adaptive nonsingular fast terminal sliding mode control for disturbed UAVs",
abstract = "The present paper investigates a new adaptive controller for the second nonlinear systems subject to disturbances. The proposed controller combines a nonsingular fast terminal sliding-mode control (NFTSMC) and an adaptive approach. The adaptive law is based on barrier function (BF). The proposed controller is applied to quadrotor whose disturbances are bounded unknown. The singularity problem is avoided because derivatives of terms with fractional powers do not appear in the control law. Without overestimating the control gain, the suggested adaptive mechanism based on BF ensures a good convergence of the output system and maintains it in a preset region of zero, regardless of the upper bound of the disturbance. A methodology design of the proposed control method for the uncertain quadrotor system is presented. Simulations validate the suggested BF-based adaptive NFTSMC (BF-ANFTSMC).",
keywords = "Adaptive control, Barrier functions, Nonsingular fast terminal sliding mode, Quadrotor",
author = "M. Labbadi and Hashim, {Hashim A.} and Eltoukhy, {A. E.E.} and M. Djemai",
note = "Publisher Copyright: {\textcopyright} 2022 EUCA.; 2022 European Control Conference, ECC 2022 ; Conference date: 12-07-2022 Through 15-07-2022",
year = "2022",
month = jul,
doi = "10.23919/ECC55457.2022.9838033",
language = "English",
isbn = "9781665497336",
series = "2022 European Control Conference, ECC 2022",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "975--980",
booktitle = "2022 European Control Conference, ECC 2022",
}