Finite-Time Attitude Control for Quadrotor with Input Constraints and Disturbances

Abstract

This paper investigates the adaptive output feedback attitude control of a quadrotor. First, a nonsingular terminal sliding-mode variable and auxiliary variable are introduced into a closed-loop structure. Meanwhile, a fuzzy logic system is incorporated into an adaptive algorithm to compensate for the adverse influence caused by lumped disturbances including system uncertainty and external disturbances on the attitude adjustment performance of a quadrotor. Then, a novel finite-time output feedback controller equipped with the saturation suppression algorithm is designed. Rigorous proof shows that the design control strategy ensures the closed-loop system stability and guarantees the attitude of the spacecraft to track desired command signals in finite time. Simulation results are presented to illustrate the performance of the proposed control scheme.

Attitude Compensation Control for Quadrotor Under Partial Loss of Actuator Effectiveness

“…where i  ( 1,2,3) i  are the virtual control laws, and it will be given later. From ( 5), ( 6) and ( 7), the time derivative of…”

“…Note that the nonlinear lumped term i  ( 1,2,3) i  in (15) contain unknown bounded parameters and bounded external disturbances, and therefore there exists the positive constants…”

“…Remark 4. From ( 21), we obtain that 1 i   ( 1,2,3) i  . In this paper, i  is regarded as a supervisory regulator.…”

“…Nowadays, quadrotors have been applied in several types of tasks including agricultural services, monitoring over nuclear reactors, mapping and law enforcement and surveillance. The above mentioned tasks imposes new demands in the areas of control theory and flight control system design in order to improve unmanned quad-rotors capable of operating in harsh environments and coping with complex missions [1][2][3][4]. Currently, many nonlinear control methods have been proposed for unmanned quadrotors [5][6][7][8][9][10][11][12][13][14][15].…”

“…In (4a)-(4c), i ( 1,2,3) i  are introduced into the attitude subsystem in order to describe the partial loss of actuator effectiveness. In particular, the actuators work normally if1 i   .…”