基于反步设计方法和有限时间控制技术,文章设计了四旋翼飞行器的控制系统,以实现定点悬停控制. 首先,针对四旋翼飞行器位置控制系统,将姿态当成虚拟控制输入信号,设计了基于PD的位置控制器. 然后,针对姿态控制系统,基于有限时间控制技术, 设计姿态控制力矩使得飞行器姿态可以在有限时间内达到期望的姿态. 最后,仿真结果验证了文章所提出控制器的有效性.

In this paper, based on the backstepping control and finite-time control technique, a new control system is designed for a hovering quadrotor aircraft. First, for the position subsystem of quadrotor, the attitude is taken as virtual control input and the position controller is designed based on PD feedback control. Then, for the attitude subsystem, by using the finite-time control technique, a finite-time attitude control law is designed for the control torque such that the desired attitude can be tracked by the real attitude of aircraft in a finite time. Finally, the simulation results illustrate the efficiency of the proposed method.