Abstract
In this paper, we apply finite-time settling control to a hierarchical linearized quadcopter model and verify its robustness against model errors by simulation. Hierarchical linearization is one of the exact linearization method and is linearizable on all points. Finite-time settling control has the property of finite-time stability, which perfectly matches the equilibrium point in a finite-time range. This property increases robustness near the equilibrium point. Thus, it is expected to improve the stability of drones that are vulnerable to wind disturbances and model errors. As a comparison, linear state feedback control with exponential stability is used. The feedback gain is calculated using linear quadratic regulator(LQR), which is known to have high robustness. The simulation results show that the finite-time settling controller has higher the trajectory tracking performance than the linear quadratic regulator.
Published Version
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