Hovering control for quadrotor aircraft based on finite-time control algorithm

In this paper, a finite-time controller is proposed for the quadrotor aircraft to achieve hovering control in a finite time. The design of controller is mainly divided into two steps. Firstly, a saturated finite-time position controller is designed such that the position of quadrotor aircraft can re...

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Bibliographic Details
Published in:Nonlinear dynamics 2017-06, Vol.88 (4), p.2359-2369
Main Authors: Zhu, Wenwu, Du, Haibo, Cheng, Yingying, Chu, Zhaobi
Format: Article
Language:English
Subjects:
Aircraft
Aircraft control
Algorithms
Attitude control
Automotive Engineering
Classical Mechanics
Computer simulation
Control
Control algorithms
Control systems design
Control theory
Controllers
Convergence
Dynamical Systems
Engineering
Feedback control
Helicopters
Hovering
Mechanical Engineering
Original Paper
Satellite tracking
System theory
Systems theory
Tracking control
Vibration
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Summary:In this paper, a finite-time controller is proposed for the quadrotor aircraft to achieve hovering control in a finite time. The design of controller is mainly divided into two steps. Firstly, a saturated finite-time position controller is designed such that the position of quadrotor aircraft can reach any desired position in a finite time. Secondly, a finite-time attitude tracking controller is designed, which can guarantee that the attitude of quadrotor aircraft converges to the desired attitude in a finite time. By homogenous system theory and Lyapunov theory, the finite-time stability of the closed-loop systems is given through rigorous mathematical proofs. Finally, numerical simulations are given to show that the proposed algorithm has a faster convergence performance and a stronger disturbance rejection performance by comparing to the PD control algorithm.
ISSN:0924-090X
1573-269X
DOI:10.1007/s11071-017-3382-8