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Robust finite-time stabilization of quadrotor with inertia uncertainty and disturbance

机译：具有惯性不确定性和扰动的四旋翼的鲁棒有限时间稳定

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The paper is concerned with the robust finite-time stabilization problem of quadrotors subject to inertia uncertainty and disturbances. The underlying stabilization problem consists of controller designs for position loop and attitude loop, both of which are carried out based on the terminal sliding mode control approach. First, a robust finite-time position controller is designed by considering the bound of disturbances such that the position control loop can be stabilized in finite time. As a consequence, the thrust for altitude stabilization, as well as the desired attitude angles for tracking of the attitude loop are determined. Then, attitude tracking control is realized by further combining robust adaptive control strategy to achieve finite-time attitude tracking with nonlinearities of uncertain inertia and disturbances tackled by an introduced adaption term. A numerical example is presented to verify the proposed control scheme.
机译：本文关注的是四轴转子在鲁棒不确定性和扰动下的鲁棒有限时间稳定问题。潜在的稳定问题由位置环和姿态环的控制器设计组成，两者均基于终端滑模控制方法进行。首先，通过考虑扰动的边界来设计鲁棒的有限时间位置控制器，以便可以在有限时间内稳定位置控制环。结果，确定了用于高度稳定的推力以及用于跟踪姿态环的期望姿态角。然后，通过进一步结合鲁棒的自适应控制策略来实现姿态跟踪控制，以实现具有不确定惯性和引入的自适应项解决的干扰的非线性的有限时间姿态跟踪。数值例子验证了所提出的控制方案。

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