文章基本信息

标题：Finite-time trajectory control for a quadrotor aircraft using disturbance observer
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作者：Zhaobi Chu ; Songgang Zhou ; Min Zhu 等
期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2020
卷号：17
期号：2
页码：1-11
DOI：10.1177/1729881420903847
出版社：SAGE Publications
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..
关键词：Finite;time control ; quadrotor aircraft ; trajectory tracking control ; external disturbances ; disturbance observer