Finite-time attitude control of aircrafts based on the extended state observer

This paper considers the finite-time control problem for aircrafts with uncertainty. The dynamic model used here is in terms of Euler angles which can be obtained easily. The extended state observer (ESO) is designed to estimate the lumped uncertainty of the system. Based on this, the finite-time controller is designed by using the backstepping method. It proved that the state of the closed-loop system is bounded and the tracking error converges to a small neighborhood of the origin in a finite time, and the radius of the neighborhood and the settling time can be regulated by tuning the design parameters. The simulation results show the effectiveness of the proposed control methods.