| Summary: | This paper presents a new hybrid control framework—Model Reference Adaptive Control with a Barrier Lyapunov Function-based PID Backstepping Nonsingular Terminal Sliding Mode Control (MRA-BLF-PBNTSMC)—for robust attitude control of four-rotor UAVs under disturbances and uncertainties. By integrating a PID-type tracking error formulation within the BLF structure, the proposed method rigorously enforces state constraints while achieving finite-time convergence. A disturbance observer is employed to estimate unknown external disturbances in real time, and dynamic surface control is used to simplify backstepping implementation by avoiding repeated derivative calculations. The control laws are derived using Lyapunov stability theory, guaranteeing finite-time convergence and robustness against model uncertainties. Simulation results show that MRA-BLF-PBNTSMC achieves smoother control input, faster convergence, and reduced steady-state error compared with other methods, while effectively mitigating chattering and singularity issues. These results confirm the method's applicability for UAVs operating in complex environments.
|
|---|
