Resumen
The quadrotor Unmanned Aerial Vehicle (UAV) belongs to an open-loop unstable nonlinear system, which also has the characteristics of underdrive, strong coupling and external disturbance. In the height control of quadrotor UAVs, the traditional sliding mode control (SMC) and PID methods cannot quickly and effectively eliminate disturbance effects caused by gust, aerodynamic drag and other factors, which indicates that the quadrotor UAV cannot return to its predetermined trajectory. To this end, this paper proposes a dual closed-loop finite-time height control method for the quadrotor UAV. The proposed method is able to estimate and compensate for the disturbance in the height control and make up for the lack of anti-disturbance ability in the control process. More specifically, a finite-time Extended State Observer (ESO) and a finite-time super-twisting controller are designed for the velocity control system to compensate for the total disturbance and track the rapidly changing expected signal. An integral sliding mode controller is designed for the height control system. Simulation results show that the proposed method can reduce the chattering phenomenon of traditional SMC and improve both control accuracy and convergence speed.