Multivariable finite‐time output feedback trajectory tracking control of quadrotor helicopters

Summary A continuous multivariable output feedback control scheme is developed for trajectory tracking and attitude stabilization of quadrotor helicopters. The whole closed‐loop system is composed by position loop and attitude loop. The homogeneous technique is used to design finite‐time stabilizing...

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Bibliographic Details
Published in:International journal of robust and nonlinear control 2018-01, Vol.28 (1), p.281-295
Main Authors: Tian, Bailing, Lu, Hanchen, Zuo, Zongyu, Zong, Qun, Zhang, Yunpeng
Format: Article
Language:English
Subjects:
Attitude stability
Closed loop systems
Computer simulation
Control systems
Control systems design
Feedback control
Feedback control systems
finite‐time stability
Helicopters
Multivariable control
Output feedback
quadrotor helicopters
Stability analysis
Tracking control
Trajectory control
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Summary:Summary A continuous multivariable output feedback control scheme is developed for trajectory tracking and attitude stabilization of quadrotor helicopters. The whole closed‐loop system is composed by position loop and attitude loop. The homogeneous technique is used to design finite‐time stabilizing controller and observer in each loop. The virtual control is introduced in position loop to ensure that the real control is smooth enough such that it can be tracked by attitude loop. The finite‐time stability of the closed‐loop system is guaranteed through homogeneity and Lyapunov analysis. Finally, the efficiency of the proposed algorithm is illustrated by numerical simulations.
ISSN:1049-8923
1099-1239
DOI:10.1002/rnc.3869