Finite-time reliable attitude tracking control design for nonlinear quadrotor model with actuator faults

摘要

This paper is focused on a finite-time reliable control design for nonlinear quadrotor attitude dynamic model against the actuator faults and external disturbances. By the utilization of an appropriate Lyapunov-Krasovskii functional, a finite-time performance analysis criterion is derived to obtain the robust reliable tracking control design for quadrotor dynamic model. Then, a fault-tolerant tracking control is designed such that the attitude of the quadrotor is reliable in the sense that it is finite-time bounded and satisfies the suggested mixed H and passivity performance index under given constraints. Also, the finite-time fault-tolerant controller gain is derived by solving the obtained linear matrix inequalities based on the convex optimization technique. Finally, simulation results are provided to verify the effectiveness and robustness of the proposed control design law.