In this article, a finite-time control scheme is proposed for a quadrotor unmanned aerial vehicle (UAV) with external disturbance. First, a finite-time disturbance observer is designed to cope with external disturbance. Then, a nonsingular terminal sliding-mode control scheme is developed, which avoids singularity problem of conventional terminal sliding-mode control. By Lyapunov stability theory, it is proved that the controller guarantees the tracking errors converge to zero in a finite time. Finally, the effectiveness and superiority of the proposed control strategy is verified by compared simulation.

中文翻译：

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具有外部扰动的四旋翼无人机基于扰动观测器的有限时间控制设计

本文提出了一种具有外部干扰的四旋翼无人机的有限时间控制方案。首先，设计了一个有限时间的干扰观测器来应对外部干扰。然后，提出了一种非奇异的终端滑模控制方案，避免了传统的终端滑模控制的奇异性问题。利用李雅普诺夫稳定性理论证明，控制器保证了跟踪误差在有限时间内收敛到零。最后，通过比较仿真验证了所提控制策略的有效性和优越性。