@inproceedings{fc368599f2bb4de0bcfdf84b02462db9,
title = "Inverse-Based Fast Attitude Control of Quadrotors",
abstract = "This study presents a fast attitude control for quadrotors with unknown disturbances. For the quadrotor attitude sub-system, the dynamic inverse control is first applied to decouple the attitude dynamics without using the small attitude angle assumption. Based on the decoupled attitude system, a nonsingular fast terminal sliding mode control (NFTSMC) is then developed to realize the finite-time convergence of Euler angles. In this NFTSMC, the finite-time disturbance observer is employed to obtain the necessary information of unknown disturbances, which is utilized to construct the sliding mode surface. As a result, the NFTSMC provides a good disturbance rejection ability. Simulations are implemented to show the effectiveness of our proposed control.",
keywords = "Attitude control, Disturbance rejection, Dynamic inverse, Quadrotor, Terminal sliding mode",
author = "Yiming Wang and Linchang Lu and Guan Wang and Hao An",
note = "Publisher Copyright: {\textcopyright} 2022 Technical Committee on Control Theory, Chinese Association of Automation.; 41st Chinese Control Conference, CCC 2022 ; Conference date: 25-07-2022 Through 27-07-2022",
year = "2022",
doi = "10.23919/CCC55666.2022.9902678",
language = "英语",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "340--344",
editor = "Zhijun Li and Jian Sun",
booktitle = "Proceedings of the 41st Chinese Control Conference, CCC 2022",
address = "美国",
}