Finite-time Attitude Control with Chattering Suppression for Quadrotors Based on High-order Extended State Observer

This article investigates a finite-time attitude control with chattering suppression for quadrotors based on a high-order extended state observer (HESO). To improve the anti-disturbance capacity of quadrotors, a HESO capable of estimating fast time-varying disturbances is presented to enhance system robustness by regarding higher-order disturbance derivatives as extended arguments. Then, with the estimates of HESO, a finite-time attitude control policy including a double hyperbolical reaching law (DHRL) is introduced, alleviating control chattering and guaranteeing rapid response. The most significant feature is a finite time regulation for quadrotors without incurring severe oscillations can be obtained in the event of fast time-varying uncertainties. Moreover, the stability analysis is proved by a Lyapunov theorem. Finally, the effectiveness of proposed control scheme is demonstrated by numerical and experimental results.