Barrier Function-Based Adaptive Super-Twisting Integral Terminal Sliding Mode Control for a Quad-Rotor UAV

In this paper, a novel barrier function-based super-twisting integral terminal sliding mode control algorithm is proposed for a quad-rotor unmanned aerial vehicle (UAV). The approach of employing an integral terminal sliding mode control strategy is adopted to achieve an equivalent control, while the switching control law is designed using the super-twisting algorithm. The barrier function is introduced as the gain of switching control law. The integral terminal sliding mode approach guarantees that the system’s initial state lies on the sliding mode surface, while also enhancing the convergence rate of the system state through exponential acceleration. Super-twisting algorithm is introduced to reduce the sliding mode chattering. The barrier function can guarantee the convergence of output variables and induce a decrease in gain proportionate to the output variables. Finally, the numerical simulation results demonstrate the efficacy and exceptional performance of the proposed schemes.