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

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

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...

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Bibliographic Details
Main Authors: Zhaobi Chu, Songgang Zhou, Min Zhu, Hua Li
Format: Article
Language:English
Published: SAGE Publishing 2020-04-01
Series:International Journal of Advanced Robotic Systems
Online Access:https://doi.org/10.1177/1729881420903847
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spelling doaj-e4659391716d4e6983a89237f20d1a2e2020-11-25T03:40:17ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142020-04-011710.1177/1729881420903847Finite-time trajectory control for a quadrotor aircraft using disturbance observerZhaobi ChuSonggang ZhouMin ZhuHua LiIn 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.https://doi.org/10.1177/1729881420903847
collection DOAJ
language English
format Article
sources DOAJ
author Zhaobi Chu
Songgang Zhou
Min Zhu
Hua Li
spellingShingle Zhaobi Chu
Songgang Zhou
Min Zhu
Hua Li
Finite-time trajectory control for a quadrotor aircraft using disturbance observer
International Journal of Advanced Robotic Systems
author_facet Zhaobi Chu
Songgang Zhou
Min Zhu
Hua Li
author_sort Zhaobi Chu
title Finite-time trajectory control for a quadrotor aircraft using disturbance observer
title_short Finite-time trajectory control for a quadrotor aircraft using disturbance observer
title_full Finite-time trajectory control for a quadrotor aircraft using disturbance observer
title_fullStr Finite-time trajectory control for a quadrotor aircraft using disturbance observer
title_full_unstemmed Finite-time trajectory control for a quadrotor aircraft using disturbance observer
title_sort finite-time trajectory control for a quadrotor aircraft using disturbance observer
publisher SAGE Publishing
series International Journal of Advanced Robotic Systems
issn 1729-8814
publishDate 2020-04-01
description 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.
url https://doi.org/10.1177/1729881420903847
work_keys_str_mv AT zhaobichu finitetimetrajectorycontrolforaquadrotoraircraftusingdisturbanceobserver
AT songgangzhou finitetimetrajectorycontrolforaquadrotoraircraftusingdisturbanceobserver
AT minzhu finitetimetrajectorycontrolforaquadrotoraircraftusingdisturbanceobserver
AT huali finitetimetrajectorycontrolforaquadrotoraircraftusingdisturbanceobserver
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