Finite-Time Super-Twisting Trajectory Tracking Control for a Coaxial Twelve-Rotor Unmanned Flying Robot

Finite-time super-twisting trajectory tracking control for a coaxial twelve-rotor unmanned flying robot (UFR) is investigated under un-modeled dynamics and external disturbance. The coaxial twelve-rotor UFR as the nested closed-loop control system is divided into outer loop and inner loop. The integral sliding mode controller is adopted for the outer loop, and finite-time super-twisting sliding mode controller is proposed for the inner loop. A finite-time extended state observer (ESO) is designed to effectively estimate un-modeled dynamics and external disturbance. Then, the stability of the closed- loop system is proved by Lyapunov stability theorem. Finally, numerical simulation experiments demonstrate the effectiveness and superiority of the proposed control strategy.