Double-loop control in air–ground cooperation for a switched-trajectory quadrotor under gust winds
Lei Cui,
Shiqing Liang,
Hongjiu Yang
et al.
Abstract:In this paper, a double-loop tracking control strategy with finite-time convergence is investigated for a switched-trajectory quadrotor subjected to gust winds in air–ground cooperation. To handle the complexity of switched-trajectory tracking, an adaptive tracking differentiator is presented in an outer loop to arrange transition processes. Fast integral terminal sliding mode control is also used in the outer loop to improve convergence speed and tracking accuracy. The gust winds are estimated and compensated… Show more
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