Подробное описание документа

Nguyen C. X., Pham P. Q.
   Algorithm for finite-time tracking control of quadcopter motion using the lyapunov function method / Nguyen C. X., Pham P. Q. // Мехатроника, автоматизация, управление. - 2025. - Т. 26, № 6. - С. 306-315.

This paper presents a technique for synthesizing a finite-time tracking control law, based on the Lyapunov function, for quadcopters. The dynamic model of quadcopters is an underactuated system with six degrees of freedom. To synthesize a control law for the system, a control architecture is first constructed, followed by the derivation of control laws for each subsystem. The convergence property of each control law is ensured through the use of a virtual system in the form of a strict-feedback system, which is employed to synthesize the control laws. The control law is derived via a diffeomorphism between the subsystem and the virtual system. The finite-time convergence property is guaranteed using a special Lyapunov function. Simulation results validate the effectiveness of the designed control laws.
Ключевые слова quadcopter, backstepping control, strict-feedback form, lyapunov method, finite-time control