Robust Finite-Time Control Tracking Via an Enhancing Supertwisting with Application to UAVs

This study deals with an underactuated unmanned aerial vehicle tracking control problem in finite time under disturbances. The two control loops that make up the hierarchical finite-time controller are the inner-loop rotation control and the outer-loop translation control. It was constructed using a predetermined terminal sliding manifold and a high-order sliding mode control. Using a modified supertwisting method, we offer a unique Lyapunov-based predefined-time control technique for z-position in translation control. For both x and y positions, a simple controller is then used. Roll, pitch, and yaw motions have been subjected to rotation control using high order sliding mode control with a predefined-time sliding mode manifold. Numerical simulation results are presented to illustrate how well the suggested control system works in trajectory tracking and disturbances.