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Attitude trajectory planning and attitude control for quad-rotor aircraft based on finite-time control technique

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  • Du, Haibo
  • Yu, Bo
  • Wei, Jiajia
  • Zhang, Jun
  • Wu, Di
  • Tao, Weiqing

Abstract

The attitude control problem for quad-rotor spacecraft is investigated in this paper. Considering the yaw dynamical rate is slower than that of roll and pitch channel, firstly, we establish the attitude trajectory and then propose an attitude decoupled control strategy. For the specific attitude controller design, we design a finite-time attitude tracking controller based on the finite-time control technology. The rigorous stability analysis method based on homogeneous system theory is given, which proves that spacecraft attitude can reach the expected attitude in a finite time. Experimental results on a real quad-rotor platform show that the proposed control strategy has the advantages of convergence and strong disturbance rejection ability.

Suggested Citation

  • Du, Haibo & Yu, Bo & Wei, Jiajia & Zhang, Jun & Wu, Di & Tao, Weiqing, 2020. "Attitude trajectory planning and attitude control for quad-rotor aircraft based on finite-time control technique," Applied Mathematics and Computation, Elsevier, vol. 386(C).
    • Handle: RePEc:eee:apmaco:v:386:y:2020:i:c:s0096300320304513
    DOI: 10.1016/j.amc.2020.125493
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    References listed on IDEAS

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    5. Mei, Keqi & Ma, Li & He, Runxin & Ding, Shihong, 2020. "Finite-time controller design of multiple integrator nonlinear systems with input saturation," Applied Mathematics and Computation, Elsevier, vol. 372(C).
    6. Wu, Kai-Ning & Na, Ming-Ye & Wang, Liming & Ding, Xiaohua & Wu, Boying, 2019. "Finite-time stability of impulsive reaction-diffusion systems with and without time delay," Applied Mathematics and Computation, Elsevier, vol. 363(C), pages 1-1.
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    Cited by:

    1. Wang, Fang & Gao, Yali & Zhou, Chao & Zong, Qun, 2022. "Disturbance observer-based backstepping formation control of multiple quadrotors with asymmetric output error constraints," Applied Mathematics and Computation, Elsevier, vol. 415(C).
    2. Liu, Lu & Ding, Shihong, 2021. "A unified control approach to finite-time stabilization of SOSM dynamics subject to an output constraint," Applied Mathematics and Computation, Elsevier, vol. 394(C).
    3. Khalid A. Alattas & Mai The Vu & Omid Mofid & Fayez F. M. El-Sousy & Afef Fekih & Saleh Mobayen, 2022. "Barrier Function-Based Nonsingular Finite-Time Tracker for Quadrotor UAVs Subject to Uncertainties and Input Constraints," Mathematics, MDPI, vol. 10(10), pages 1-16, May.
    4. Yue, Xiaohui & Shao, Xingling & Li, Jie, 2021. "Prescribed chattering reduction control for quadrotors using aperiodic signal updating," Applied Mathematics and Computation, Elsevier, vol. 405(C).
    5. Wang, Di & Liu, Can & Ding, Dawei & Gao, Suixiang & Chu, Ming, 2022. "Finite-time optimal tracking control using augmented error system method," Applied Mathematics and Computation, Elsevier, vol. 424(C).

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