IJCAS

In this paper, the problem of non-fragile finite-time contractive control of a quadrotor unmanned aerial vehicle with controller perturbations is studied. Based on the Lyapunov functional approach, a sufficient condition is derived for the existence of the desired controller ensuring finite-time contractive stability of the closed-loop system and reducing sensitivity to controller gain perturbations. By designing a time-varying proportional coefficient that works in conjunction with the attitude controller, the approach compensates for the limitation of the Lyapunov function method, which can only design controllers for systems with known matrices, enabling adaptation to an attitude subsystem with parameter uncertainties. Additionally, using the cone complementary linearization technique, the existence conditions for the controller are transformed into a linear matrix inequality form, facilitating the numerical solution of the controller gains. Finally, the numerical results show that the adopted method achieves better convergence performance compared to multiple traditional control methods.

Keywords: Finite-time contractive control, linear matrix inequality, non-fragile control, trajectory tracking.