scholarly journals Attitude Control for a Micromechanical Flying Insect via Sensor Output Feedback

2004 ◽  
Vol 20 (1) ◽  
pp. 93-106 ◽  
Author(s):  
L. Schenato ◽  
W.C. Wu ◽  
S. Sastry
Keyword(s):  
Output Feedback ◽  
Attitude Control ◽  
Sensor Output ◽  
Micromechanical Flying Insect

scholarly journals Finite-Time Attitude Control for Quadrotor with Input Constraints and Disturbances

2020 ◽  
Vol 2020 ◽  
pp. 1-11
Author(s):  
Zijun Gao ◽  
Jin Wang ◽  
Yaping Tian
Keyword(s):  
Output Feedback ◽  
Finite Time ◽  
Attitude Control ◽  
Closed Loop ◽  
Sliding Mode ◽  
Auxiliary Variable ◽  
System Stability ◽  
Terminal Sliding Mode ◽  
Command Signals ◽  
Adverse Influence

This paper investigates the adaptive output feedback attitude control of a quadrotor. First, a nonsingular terminal sliding-mode variable and auxiliary variable are introduced into a closed-loop structure. Meanwhile, a fuzzy logic system is incorporated into an adaptive algorithm to compensate for the adverse influence caused by lumped disturbances including system uncertainty and external disturbances on the attitude adjustment performance of a quadrotor. Then, a novel finite-time output feedback controller equipped with the saturation suppression algorithm is designed. Rigorous proof shows that the design control strategy ensures the closed-loop system stability and guarantees the attitude of the spacecraft to track desired command signals in finite time. Simulation results are presented to illustrate the performance of the proposed control scheme.

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