Perching of Nano-Quadrotor Using Self-Trigger Finite-Time Second-Order Continuous Control

This article proposes the perching of nano-quadrotor using self-trigger finite-time second-order continuous control on a vertical wall. In perching, nano-quadrotor evolves from 3-D space and aligned in 2-D space. Although quadrotor dynamics are quite complex, but it is a combination of subsystems, and each subsystem is a relative degree two-type system. The designed controller converges all the position error and derivative of position error simultaneously, and in reaching phase only, hence there is no sliding phase. The proposed controller is also chattering free. Therefore, it does not actuate the unwanted dynamics of the quadrotor. Stability analysis using the Lyapunov stability theory has been done, and also analysis of the finite-time convergence is given. Furthermore, using the Lipschitz method, self-triggering conditions are derived for the controller, which gives the next triggering instant of the actuation. This mechanism reduces the task of the controller as well as the sensor. Experimental studies for nano-quadrotor perching on the vertical wall are conducted in indoor and outdoor scenarios. Through the experimental study, it is also validated that the proposed controller provides a better result than the second-order twisting controller.