Finite-Time Control of a Quadrotor System

https://doi.org/10.3182/20140313-3-IN-3024.00008Get rights and content

Abstract

This paper deals with the finite-time control of a quadrotor unmanned aerial vehicle about the hovering position by converting the linearized model to its Brunovský canonical form. It is shown that all the sliding surfaces have relative degree five or three. Simulations are carried out using higher order continuous finite time controllers.

Keywords

Finite-time control
sliding surfaces
Brunovský canonical form
quadrotor
underactuated systems

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