Finite-time Complementary Filter-based Attitude Control of Unmanned Aerial Vehicles with Gyro Bias

Despite recent advances in attitude control methods for unmanned aerial vehicles, achieving fast and precise attitude tracking performance remains challenging in the presence of gyro bias and external disturbances. To address this issue, a filter-based finite-time control scheme is proposed in this paper. Specifically, a finite-time complementary filter is designed to estimate the gyro bias, and a finite-time controller is developed to achieve precise attitude tracking under external disturbances. The global finite-time stability of the closed-loop system is rigorously demonstrated based on the homogeneity theory. Comparative experimental studies validate the proposed control method's effectiveness and superior performance over existing methods.