四旋翼飞行器数学建模+轨迹跟踪控制
数学模型(状态空间方程):
控制算法: 有限时间(finite-time control)控制,文献 [1];比例-微分(PD)控制,文献 [2]。
控制效果对比(PD control Vs finite-time control)
参考文献:
[1]. Bhat S, Bernstein D S. Finite-time stability of homogeneous systems[C]// American Control Conference, 1997. Proceedings of the. IEEE, 2002:2513-2514 vol.4.
[2]. Zuo Z, Zhu M, Zheng Z. Trajectory Tracking Control of a Quadrotor Unmanned Mini-Helicopter[C]// Aiaa Aerospace Sciences Meeting Including the New Horizons Forum and Aerospace Exposition. 2013.