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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    Titel :

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


    Beteiligte:
    Wang, Fang (Autor:in) / Gao, Hongmei (Autor:in) / Wang, Kun (Autor:in) / Zhou, Chao (Autor:in) / Zong, Qun (Autor:in) / Hua, Changchun (Autor:in)


    Erscheinungsdatum :

    01.04.2021


    Format / Umfang :

    2274783 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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