TY - JOUR
T1 - Practical Fixed-Time Disturbance Rejection Control for Quadrotor Attitude Tracking
AU - Ma, Dailiang
AU - Xia, Yuanqing
AU - Shen, Ganghui
AU - Jiang, Hongru
AU - Hao, Chenxi
N1 - Publisher Copyright:
© 1982-2012 IEEE.
PY - 2021/8
Y1 - 2021/8
N2 - In this article, a practical fixed-time disturbance rejection controller is investigated for quadrotor attitude tracking. The disturbance rejection is achieved by applying fixed-time disturbance observers (FxTDOs), and the practically fixed-time convergence is proved via homogeneous theory and Lyapunov method. Then, a dual-loop fixed-time controller is designed for quadrotor attitude tracking, and the disturbances are estimated by FxTDO in the inner loop. Finally, the efficiency and robustness of the proposed method are illustrated by simulations and experiments in real flights.
AB - In this article, a practical fixed-time disturbance rejection controller is investigated for quadrotor attitude tracking. The disturbance rejection is achieved by applying fixed-time disturbance observers (FxTDOs), and the practically fixed-time convergence is proved via homogeneous theory and Lyapunov method. Then, a dual-loop fixed-time controller is designed for quadrotor attitude tracking, and the disturbances are estimated by FxTDO in the inner loop. Finally, the efficiency and robustness of the proposed method are illustrated by simulations and experiments in real flights.
KW - Fixed-time controller (FxTC)
KW - fixed-time disturbance observer (FxTDO)
KW - quadrotor
KW - real-time experiments
UR - https://www.scopus.com/pages/publications/85105636937
U2 - 10.1109/TIE.2020.3001800
DO - 10.1109/TIE.2020.3001800
M3 - Article
AN - SCOPUS:85105636937
SN - 0278-0046
VL - 68
SP - 7274
EP - 7283
JO - IEEE Transactions on Industrial Electronics
JF - IEEE Transactions on Industrial Electronics
IS - 8
M1 - 9119797
ER -