Finite-time trajectory control for a quadrotor aircraft using disturbance observer. (2nd April 2020)

• Record Type: Journal Article
• Authors: Chu, Zhaobi; Zhou, Songgang; Zhu, Min; Li, Hua
• Is Part Of: International journal of advanced robotic systems. Volume 17:Number 2(2020:Mar./Apr.)
• Publication Date: 2020-04-02
• Subjects: Finite-time control -- quadrotor aircraft -- trajectory tracking control -- external disturbances -- disturbance observer; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1177/1729881420903847
• Languages: English
• ISSNs: 1729-8806

Abstract

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.