title: A new robust control for minirotorcraft unmanned aerial vehicles.
abstract: This paper presents a new robust control based on finite-time Lyapunov stability controller and proved with backstepping method for the position and the attitude of a small rotorcraft unmanned aerial vehicle subjected to bounded uncertainties and disturbances. The dynamical motion equations are obtained by the Newton-Euler formalism. The proposed controller combines the advantage of the backstepping approach with finite-time convergence techniques to generate a control laws to guarantee the faster convergence of the state variables to their desired values in short time and compensate for the bounded disturbances. A formal proof of the closed-loop stability and finite-time convergence of tracking errors is derived using the Lyapunov function technique. Simulation results are presented to corroborate the effectiveness and the robustness of the proposed control method.
authors: Automatic Control Laboratory of Tlemcen (LAT), Electrical Engineering Department, Tlemcen University, Algeria. Electronic address: mokhtari_rida_aut@hotmail.fr.
authors: M Rida
authors: MR
authors: Mokhtari
authors: Automatic Control Laboratory of Tlemcen (LAT), Electrical Engineering Department, Tlemcen University, Algeria. Electronic address: b.cherki@gmail.com.
authors: Brahim
authors: B
authors: Cherki
keywords: Backstepping; Finite-time stability; Quadrotor; Robust control; Rotocraft UAV