In this article, a finite-time control scheme is proposed for a quadrotor unmanned aerial vehicle (UAV) with external disturbance. First, a finite-time disturbance observer is designed to cope with external disturbance. Then, a nonsingular terminal sliding-mode control scheme is developed, which avoids singularity problem of conventional terminal sliding-mode control. By Lyapunov stability theory, it is proved that the controller guarantees the tracking errors converge to zero in a finite time. Finally, the effectiveness and superiority of the proposed control strategy is verified by compared simulation.


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    Title :

    Disturbance Observer-Based Finite-Time Control Design for a Quadrotor UAV With External Disturbance


    Contributors:
    Wang, Fang (author) / Gao, Hongmei (author) / Wang, Kun (author) / Zhou, Chao (author) / Zong, Qun (author) / Hua, Changchun (author)


    Publication date :

    2021-04-01


    Size :

    2274783 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English





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