Finite-time backstepping control for quadrotor UAV with uncertain disturbances

In this article, the finite-time backstepping method is presented for quadrotor UAV with uncertain external disturbances and model parameter uncertainties. First, a finite-time extended state observer (FTESO) is proposed, which can accurately compensate the complex unknown disturbance of the system in finite time and increase the anti-disturbance capability of quadrotor UAV. After that, the finite-time backstepping controller (FTBC) is designed to improve the control accuracy of the system and achieve the stability of attitude angle system in finite time. Finally, the effectiveness of the control methods are verified through theoretical proof and numerical simulation.