Disturbance Rejection Control With Finite-time Convergence For Quadrotor Transportation System

In this paper, based on disturbance observer, a disturbance rejection control method is proposed to solve the trajectory tracking problem of quadrotor with suspended load. Based on the multivariable super-twisting algorithm, the external disturbance and the lumped disturbance are compensated by a finite-time disturbance observer in order to guarantee the finite time convergence of the double closed-loop system. Based on the Lyapunov method, it is proved that the closed-loop control system is stable in a finite time, and the observation error is uniformly ultimately bounded. The proposed method of control is demonstrated to be effective in simulations.