Finite-time Output Feedback Attitude Tracking Control for a Quadrotor UAV
A finite-time output feedback control method is proposed to solve the problems of actuator saturation,iner-tial uncertainty and external interference in the attitude system of quadrotor.In this method,the output feedback is used to deal with the unobservability of part of the system state,a neural network state observer is designed to esti-mate the unknown state,and a virtual control signal and controller are constructed based on the estimated state.In order to overcome the computational complexity of the traditional backstepping method,a finite-time command filter is introduced to filter the virtual control signal and obtain the virtual control derivative in the finite time,and the error compensation signal is added to eliminate the filtering error.Finally,the Lyapunov method is used to prove that the attitude tracking error can converge to the expected neighborhood of the origin in a finite time,and all signals in the closed loop system are bounded in a finite time.The effectiveness of the control method is verified by Matlab simu-lation.
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