Robust finite-time attitude tracking control for nonlinear quadrotor with uncertainties and delays

摘要

In this paper, the robust finite-time attitude tracking problem for quadrotor system is investigated under the influences of coupled and nonlinear dynamics, parametric and unmodeled uncertainties, external disturbances and time-varying input and feedback delays. The robust finite-time attitude tracking controller is designed with a novel nonsingular terminal sliding mode control strategy. Finite-time convergence is proven and explicitly given based on Lyapunov approaches. Simulations are presented to illustrate the effectiveness of the proposed controller. Experimental results are given to confirm the attitude tracking performance of the control strategy.