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

Abstract The attitude control problem for quad-rotor spacecraft is investigated in this paper. Considering the yaw dynamical rate is slower than that of roll and pitch channel, firstly, we establish the attitude trajectory and then propose 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. The rigorous stability analysis method based on homogeneous system theory is given, which proves that spacecraft attitude can reach the expected attitude in a finite time. Experimental results on a real quad-rotor platform show that the proposed control strategy has the advantages of convergence and strong disturbance rejection ability.

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