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.

中文翻译：

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具有输入约束和扰动的四旋翼有限时间姿态控制

本文研究了四旋翼的自适应输出反馈姿态控制。首先，将非奇异的终端滑模变量和辅助变量引入闭环结构。同时，将模糊逻辑系统结合到自适应算法中，以补偿由集总干扰（包括系统不确定性和外部干扰）对四旋翼姿态调节性能造成的不利影响。然后，设计了一种新型的带有饱和抑制算法的有限时间输出反馈控制器。严格的证明表明，设计控制策略确保了闭环系统的稳定性，并保证了航天器在有限时间内跟踪所需命令信号的姿态。