Applied Sciences, Vol. 14, Pages 3639: Finite-Time Attitude Control of Quadrotor Unmanned Aerial Vehicle with Disturbance and Actuator Saturation

Applied Sciences, Vol. 14, Pages 3639: Finite-Time Attitude Control of Quadrotor Unmanned Aerial Vehicle with Disturbance and Actuator Saturation

Applied Sciences doi: 10.3390/app14093639

Authors: Zheng Zhang Xingwei Li Lilian Zhang

This paper introduces a nonlinear dynamic inversion control algorithm designed to address unknown disturbances and actuator saturation issues in unmanned aerial vehicle (UAV) attitude control. The algorithm is based on a combination of finite-time disturbance observer and anti-saturation auxiliary system, which ensures the rapid convergence of attitude tracking error. Firstly, based on the Newton–Euler equations, this paper establishes a model of the attitude system for quadrotor UAVs, and this paper eliminates the small-angle flight assumption. Secondly, considering the actuator saturation problem, an anti-saturation auxiliary control system is designed to shorten the time when the control volume is in the saturation interval and achieve finite-time convergence of the attitude error. And then, to improve the robustness of the controller, this paper proposes a disturbance observer based on the finite-time stability theory, which achieves a continuous smooth output of the observation results by introducing a hyperbolic tangent function in the observer, so that the observation error can be converged to zero in a finite time. Finally, it is demonstrated by Simulink simulation that the attitude error and the observation error converge quickly to zero.