Finite-time trajectory control for a quadrotor aircraft using disturbance observer

被引：2
|
作者：
Chu, Zhaobi [1 ]
Zhou, Songgang [1 ]
Zhu, Min [1 ]
Li, Hua [1 ]
机构：
[1] Hefei Univ Technol, Sch Elect Engn & Automat, Hefei 230009, Anhui, Peoples R China
来源：
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS | 2020年 / 17卷 / 02期
关键词：
Finite-time control; quadrotor aircraft; trajectory tracking control; external disturbances; disturbance observer; ATTITUDE STABILIZATION; ADAPTIVE-CONTROL; STABILITY; TRACKING; VEHICLE; DESIGN;
D O I：
10.1177/1729881420903847
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this article, we investigate the problem of finite-time trajectory tracking control for a quadrotor aircraft with unknown external disturbances. To improve convergence rate and disturbance rejection performance, a new composite controller is proposed by integrating finite-time control design and disturbance estimation attenuation technique. Explicit Lyapunov function is given to ensure the finite-time stability of the closed-loop control system. Numerical simulations also show the effectiveness of the proposed method.
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收藏
页数：11
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