Practical Fixed-Time Disturbance Rejection Control for Quadrotor Attitude Tracking
Dailiang Ma, Yuanqing Xia, Ganghui Shen, Hongru Jiang, Chenxi Hao
Abstract
In this article, a practical fixed-time disturbance rejection controller is investigated for quadrotor attitude tracking. The disturbance rejection is achieved by applying fixed-time disturbance observers (FxTDOs), and the practically fixed-time convergence is proved via homogeneous theory and Lyapunov method. Then, a dual-loop fixed-time controller is designed for quadrotor attitude tracking, and the disturbances are estimated by FxTDO in the inner loop. Finally, the efficiency and robustness of the proposed method are illustrated by simulations and experiments in real flights.
Topics & Concepts
Control theory (sociology)Robustness (evolution)Disturbance (geology)Tracking (education)Convergence (economics)Attitude controlLyapunov functionComputer scienceInner loopFixed pointController (irrigation)Control engineeringEngineeringMathematicsControl (management)Nonlinear systemArtificial intelligencePhysicsPsychologyQuantum mechanicsChemistryGeneBiochemistryEconomicsPaleontologyMathematical analysisPedagogyAgronomyEconomic growthBiologyAdaptive Control of Nonlinear SystemsStability and Control of Uncertain SystemsGuidance and Control Systems