A Finite-Time Trajectory Tracking Control for a Hexa-rotor with Uncertainty and Actuator Fault

This paper presents a fractional-order trajectory tracking control for the hexa-rotor with system uncertainty, actuator fault and saturation. To fulfill the trajectory tracking task under the system uncertainties and actuator faults, a finite-time trajectory tracking control (FTTTC) with fractional order filtering error for hexa-rotor is designed. Besides stability analyses of the FTTTC, the simulation results with the initial error, the end point target tracking of 3D pose of hexa-rotor under huge system uncertainty, actuator faults and input saturation validate the effectiveness and robustness of the proposed approach. To further confirm the superiority of the proposed method, comparison of trajectory tracking performance with a controller based on filtering error without fractional order is presented.