Adaptive Finite-Time Fuzzy Fractional Sliding Mode Control for Uncertain QUAV With Actuator Faults and Slung Load

This article is devoted to the finite-time (FT) tracking control for a quadrotor unmanned aerial vehicle (QUAV) with slung load subject to unknown interferences and actuator faults (AFs) via fuzzy sliding mode control (SMC) technology. In comparison to existing control designs requiring the boundary information of involved parameters and the priori knowledge of AFs, some adaptive laws are provided to estimate the uncertain upper bounds and unknown actuation effectiveness. Then, an adaptive fractional-order non-singular terminal SMC (AFONTSMC) algorithm is developed to actualize the reachability of the constructed sliding surface and further guarantee the FT convergence of the tracking error despite time-varying AFs. Furthermore, the anti-swing controller design is also presented for allowing the position reference signals to be adjusted autonomously to tackle the oscillations of the load angles. Eventually, simulation experiments reveal the effectiveness and superiority of the proposed scheme regarding fault tolerance and tracking capabilities.