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Finite-Time Attitude Control for Quadrotor with Input Constraints and Disturbances
Mathematical Problems in Engineering ( IF 1.009 ) Pub Date : 2020-06-29 , DOI: 10.1155/2020/5493686
Zijun Gao; Jin Wang; Yaping Tian

This paper investigates the adaptive output feedback attitude control of a quadrotor. First, a nonsingular terminal sliding-mode variable and auxiliary variable are introduced into a closed-loop structure. Meanwhile, a fuzzy logic system is incorporated into an adaptive algorithm to compensate for the adverse influence caused by lumped disturbances including system uncertainty and external disturbances on the attitude adjustment performance of a quadrotor. Then, a novel finite-time output feedback controller equipped with the saturation suppression algorithm is designed. Rigorous proof shows that the design control strategy ensures the closed-loop system stability and guarantees the attitude of the spacecraft to track desired command signals in finite time. Simulation results are presented to illustrate the performance of the proposed control scheme.
更新日期:2020-06-29

 

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