Adaptive sliding mode control for QUAV with performance constrained by monotone tube boundaries

This paper addresses the prescribed tracking performance control problem for a class of quadcopter unmanned aerial vehicle(QUAV) system subject to both time-varying payloads and gust disturbances. To enhance both transient and steady-state tracking performance, a prescribed performance control scheme is proposed, which employs a couple of one-side monotonic boundary functions to regulate key performance indices, including overshoot, convergence time. The present control strategy could ensure the boundedness of all closed-loop signals despite time-varying disturbances. Numerical simulation verify the effectiveness of the proposed method.