@inproceedings{d08fe062241949299424100ef0dd1a6d,
title = "Robust finite-time stabilization of quadrotor with inertia uncertainty and disturbance",
abstract = "The paper is concerned with the robust finite-time stabilization problem of quadrotors subject to inertia uncertainty and disturbances. The underlying stabilization problem consists of controller designs for position loop and attitude loop, both of which are carried out based on the terminal sliding mode control approach. First, a robust finite-time position controller is designed by considering the bound of disturbances such that the position control loop can be stabilized in finite time. As a consequence, the thrust for altitude stabilization, as well as the desired attitude angles for tracking of the attitude loop are determined. Then, attitude tracking control is realized by further combining robust adaptive control strategy to achieve finite-time attitude tracking with nonlinearities of uncertain inertia and disturbances tackled by an introduced adaption term. A numerical example is presented to verify the proposed control scheme.",
keywords = "Disturbance, Finite-time, Inertia uncertainty, Quadrotor, Terminal sliding mode",
author = "Hui Wang and Lixian Zhang and Junnan Shen and Yang Fei",
note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 2017 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2017 ; Conference date: 05-10-2017 Through 08-10-2017",
year = "2017",
month = nov,
day = "27",
doi = "10.1109/SMC.2017.8123133",
language = "英语",
series = "2017 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2017",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "3272--3277",
booktitle = "2017 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2017",
address = "美国",
}