Adaptive Finite-Time Attitude Tracking of Quadrotors With Experiments and Comparisons

• Published in: IEEE transactions on industrial electronics (1982) Vol. 66; no. 12; pp. 9428 - 9438
• Main Authors: Tian, Bailing, Cui, Jie, Lu, Hanchen, Zuo, Zongyu, Zong, Qun
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.12.2019; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptive algorithms; Adaptive control; Adaptive finite-time stability; Adaptive systems; Attitude control; Backstepping; Computer simulation; Control algorithms; Control stability; Control theory; Heuristic algorithms; Multivariable control; quadrotor; Rotary wing aircraft; supertwisting algorithm (STA); Symmetric matrices; Tracking problem; Uncertainty; Unmanned aerial vehicles; Unmanned helicopters; Upper bound
• ISSN: 0278-0046; 1557-9948
• DOI: 10.1109/TIE.2019.2892698

The finite-time attitude control of quadrotor unmanned aerial vehicles (UAVs) subject to external disturbances with unknown bound is investigated in this paper. First, an adaptive multivariable finite-time stabilizing control algorithm for second-order multivariable systems is developed based on the improved supertwisting and the equivalent control algorithms. Furthermore, the finite-time stability conditions are derived via the Lyapunov technique. The remarkable feature of the developed algorithm is to eliminate the overestimation of the control gains without loss of the sliding motion. Then, the proposed algorithm is applied for quadrotor UAVs to solve the finite-time attitude-tracking problem. Finally, a comparison of the proposed multivariable algorithm with its scalar counterpart is presented and validated both by simulation and experiment results.