Disturbance Observer-Based Finite-Time Control Design for a Quadrotor UAV With External Disturbance

In this article, a finite-time control scheme is proposed for a quadrotor unmanned aerial vehicle (UAV) with external disturbance. First, a finite-time disturbance observer is designed to cope with external disturbance. Then, a nonsingular terminal sliding-mode control scheme is developed, which avoids singularity problem of conventional terminal sliding-mode control. By Lyapunov stability theory, it is proved that the controller guarantees the tracking errors converge to zero in a finite time. Finally, the effectiveness and superiority of the proposed control strategy is verified by compared simulation.