Control of a hovering quadrotor aircraft based finite-time attitude control algorithm

被引：0
|
作者：
Du, Haibo [1 ]
Shen, Hao [1 ]
Zhu, Wenwu [1 ]
机构：
[1] Hefei Univ Technol, Sch Elect Engn & Automat, Hefei 230009, Peoples R China
来源：
2016 12TH IEEE INTERNATIONAL CONFERENCE ON CONTROL AND AUTOMATION (ICCA) | 2016年
关键词：
Quadrotor aircraft; Attitude control; Finite time control; STABILIZATION; SYSTEMS;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper considers the motion control problem for a hovering quadrotor aircraft. First, the position dynamical equation and the attitude dynamical equation are introduced respectively. Then, a PD control law is first designed for the aircraft position system, which can guarantee that the quadrotor aircraft can reach a fixed point in 3D space. To obtain a faster convergent rate for the attitude control system, the finite-time control algorithm is then designed, which can guarantee that the desired attitude can be tracked by the real attitude in a finite time. Finally, the simulation results are given to demonstrate the efficiency of the proposed method.
引用
收藏
页码：192 / 197
页数：6
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