Finite-Time Geometric Tracking Controller for Multirotor Systems

A continuous nonsingular terminal sliding-mode controller (N-TSMC) has been developed that ensures finite time convergence of the attitude of a multirotor subject to disturbance. A newly designed disturbance compensator is incorporated in the developed controller to guarantee that the disturbance compensation error exhibits finite-time convergence. A stability analysis showed that the developed controller can ensure that the closed-loop system achieves homogeneous finitetime stability. Simulations were performed to verify the efficacy of the developed controller. Compared with the traditional NTSMC, the simulation results indicate that the continuous NTSMC can still achieve finite-time convergence without causing high-frequency chattering since the control input is continuous. To the best of our knowledge, this is the first time that a continuous N-TSMC has been applied to multirotor systems to ensure finite-time stability.