Finite-Time Complementary Filter-Based Attitude Control of Autonomous Aerial Vehicles With Gyro Bias

2024/11/28 by Linan Wang, Guanghui Wen, Haibo Du +1
Engineering · #Adaptive Control of Nonlinear Systems #Inertial Sensor and Navigation #Control and Dynamics of Mobile Robots

paper · doi:10.1109/taes.2024.3507775

Abstract

Despite recent advances in attitude control methods for autonomous aerial vehicles, achieving fast and precise attitude tracking performance remains challenging in the presence of gyro bias and external disturbances. To address this issue, a filter-based finite-time control scheme is proposed in this article. Specifically, a finite-time complementary filter is designed to estimate the gyro bias, and a finite-time controller is developed to achieve precise attitude tracking under external disturbances. The global finite-time stability of the closed-loop system is rigorously demonstrated based on the homogeneity theory. Comparative experimental studies validate the proposed control method's effectiveness and superior performance over existing methods.

Citations

• Recursive design of finite-time convergent observers for a class of time-varying nonlinear systems
• Smooth second-order sliding modes: Missile guidance application

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