An ASMDO-based finite time safe control approach for unmanned aerial manipulator

Owing to the presence of disturbance and model uncertainties, unmanned aerial manipulator (UAM) may fail to maintain favourable tracking performance while conducting trajectory tracking tasks. To address this problem, this paper presents a safe control approach for UAM to achieve both finite-time convergence of tracking errors and adherence to predefined state constraints. Firstly, an adaptive dual-layer nested structure is applied to construct a disturbance suppressor, guaranteeing the suppression margin converges to a stable range. Then, by designing a nonsingular fast terminal sliding surface for tracking errors and introducing an asymmetric barrier Lyapunov function (BLF), a finite-time safe controller is proposed to achieve finite-time convergence of tracking errors, while guaranteeing the positions remain within the safety constraints. Theoretical analysis is provided to shed light on the properties of both the disturbance suppressor and the finite-time safe controller. Moreover, the effectiveness and feasibility of the proposed control approach are verified through a series of simulation results.