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• W2912278216 abstract "In this paper, accurate trajectory tracking control problem of a quadrotor with unknown dynamics and disturbances is addressed by devising a hybrid finite-time control (HFTC) approach. An adaptive integral sliding mode (AISM) control law is proposed for altitude subsystem of the quadrotor, whereby underactuated characteristics can decoupled. Backstepping technique is further deployed to control the horizontal position subsystem. To exactly attenuate external disturbances, a finite-time disturbance observer (FDO) combining with nonsingular terminal sliding mode (NTSM) control strategy is constructed for attitude subsystem, and thereby achieve finite-time stability. Using the compounded control scheme, trajectory tracking errors can be stabilized rapidly. Simulation results and comprehensive comparisons show that the proposed HFTC scheme has remarkably superior performance." @default.
• W2912278216 created "2019-02-21" @default.
• W2912278216 creator A5040965135 @default.
• W2912278216 creator A5044920558 @default.
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• W2912278216 date "2019-07-01" @default.
• W2912278216 modified "2023-10-16" @default.
• W2912278216 title "Hybrid finite-time trajectory tracking control of a quadrotor" @default.
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• W2912278216 doi "https://doi.org/10.1016/j.isatra.2018.12.042" @default.
• W2912278216 hasPubMedId "https://pubmed.ncbi.nlm.nih.gov/30736957" @default.
• W2912278216 hasPublicationYear "2019" @default.
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