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

被引：15

作者：

Du, Haibo ^{[1
]}

Yu, Bo ^{[1
]}

Wei, Jiajia ^{[1
]}

Zhang, Jun ^{[1
]}

Wu, Di ^{[2
]}

Tao, Weiqing ^{[1
]}

机构：

[1] Hefei Univ Technol, Sch Elect Engn & Automat, Hefei 230009, Anhui, Peoples R China

[2] Southeast Univ, Sch Automat, Nanjing 210096, Jiangsu, Peoples R China

来源：

APPLIED MATHEMATICS AND COMPUTATION | 2020年 / 386卷

基金：

中国国家自然科学基金;

关键词：

Attitude tracking; Spacecraft; Finite-time control; Trajectory planning; RIGID SPACECRAFT; TRACKING CONTROL; STABILIZATION; STABILITY;

D O I：

10.1016/j.amc.2020.125493

中图分类号：

O29 [应用数学];

学科分类号：

070104 ;

摘要：

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. (C) 2020 Elsevier Inc. All rights reserved.

引用

页数：11

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