A Novel Nonlinear Quadrotor Attitude Regulation with Disturbances and Preassigned Convergences

Abstract

This article develops a novel unknown system dynamic estimator-based funnel control scheme for nonlinear quadrotor attitude regulation with preassigned convergence subject to parametric uncertainties and external perturbations. An invariant manifold equipped with first-order filtering is established. To online identify the lump disturbances, an unknown system dynamic estimator is employed with a simple formula, which need a lower computation burden. Based on aforementioned estimator, a novel funnel control via utilizing funnel variable is investigated, where an exponentially decaying funnel function is preset with a prior preassigned convergence for regulation angle error. The angle tracking errors are proved to be ultimately uniformly bounded, and angle regulation error can evolve within the preset funnel boundary. Simulation results demonstrate the effectiveness of the developed control scheme.