Finite-Time Backstepping Control for Quadrotors With Disturbances and Input Constraints

Finite-Time Backstepping Control for Quadrotors With Disturbances and Input Constraints

This paper proposes a novel finite-time backstepping framework combined with an auxiliary input-saturation compensator and applies it to tackle the trajectory tracking problem of quadrotors with disturbances and input constraints. Finite-time convergence property is guaranteed by introducing the fra...

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Bibliographic Details
Main Authors: Tao Jiang, Defu Lin, Tao Song
Format: Article
Language:English
Published: IEEE 2018-01-01
Series:IEEE Access
Subjects:
Finite-time backstepping
trajectory tracking
multivariable super-twisting
finite-time filter
input saturation compensator
Online Access:https://ieeexplore.ieee.org/document/8494719/

Internet

https://ieeexplore.ieee.org/document/8494719/

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