文章基本信息

标题：Finite Time Disturbance Observer Based Geometric Control of Quadrotors
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作者：Manmohan Sharma ; Indrani Kar
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：1
页码：295-300
DOI：10.1016/j.ifacol.2020.06.050
语种：English
出版社：Elsevier
摘要：This paper proposes a finite time disturbance observer based geometric controller for quadrotors utilizing the rotation matrices for attitude dynamics. Mathematical proof has been given to show that the closed loop errors are bounded before the disturbance has been estimated by the finite time disturbance observer. After the disturbance has been estimated by the finite time disturbance observer in certain finite time, the closed loop error dynamics is shown to be exponentially stable. Numerical simulation results have been given to demonstrate the proposed result. The proposed method has been developed on the nonlinear manifold SE(3) where the attitude dynamics evolve on SO(3) and the translational dynamics evolve on R3.
关键词：Disturbance Observer;Finite time stable;Geometric Control;Quadrotors;Robotics