Attitude trajectory planning and attitude control for quad-rotor aircraft based on finite-time control technique

作者：

Highlights：

• The dynamical response for different control channels is considered in this paper, e.g., the yaw dynamical rate is slower than that of roll and pitch channel.

• This paper establishes the attitude trajectory and then proposes an attitude decoupled control strategy.

• For the specific attitude controller design, we design a finite-time attitude tracking controller based on the finite-time control technology.

摘要

•The dynamical response for different control channels is considered in this paper, e.g., the yaw dynamical rate is slower than that of roll and pitch channel.•This paper establishes the attitude trajectory and then proposes an attitude decoupled control strategy.•For the specific attitude controller design, we design a finite-time attitude tracking controller based on the finite-time control technology.

论文关键词：Attitude tracking,Spacecraft,Finite-time control,Trajectory planning

论文评审过程：Received 7 February 2020, Revised 28 April 2020, Accepted 28 June 2020, Available online 14 July 2020, Version of Record 14 July 2020.

论文官网地址：https://doi.org/10.1016/j.amc.2020.125493