A Continuous Finite-Time Output Feedback Control Scheme and Its Application in Quadrotor UAVs

Abstract

A continuous output feedback control scheme is presented for double integrator systems subject to non-vanishing perturbation. In the method, no explicit state observer or disturbance observer is designed. The geometric homogeneity technique and Lyapunov stability theory are utilized to ensure the global finitetime stability of the closed-loop system. The extension of the algorithm to multi-input multi-output is developed, and its application in quadrotor unmanned aerial vehicles is investigated. Finally, the numerical simulation results are provided to validate the efficiency of the proposed method.

Keywords

• Finite-time stability
• output feedback
• quadrotor UAVs
• nonlinear control
• robust control