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Algorithm for Finite-Time Tracking Control of Quadcopter Motion Using the Lyapunov Function Method
https://doi.org/10.17587/mau.26.306-315
Abstract
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.
About the Authors
C. X. Nguyen
Le Quy Don Technical University
Viet Nam
Viet Nam
Ph.D., Lecturer of the Department "Automation and Computing Techniques"
236 Hoang Quoc Viet Street, Hanoi
P. Q. Pham
Bauman Moscow State Technical University
Russian Federation
Russian Federation
Moscow, 105005
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Review
For citations:
Nguyen C., Pham P. Algorithm for Finite-Time Tracking Control of Quadcopter Motion Using the Lyapunov Function Method. Mekhatronika, Avtomatizatsiya, Upravlenie. 2025;26(6):306-315. https://doi.org/10.17587/mau.26.306-315
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