Attitude Trajectory Planning and Finite-Time Attitude Tracking Control for a Quadrotor Aircraft

This paper mainly investigates the attitude control problem for a aircraft with quadrotor model. By combining with the physical feature of quadrotor, the attitude trajectory is first planned and divided into different priorities. Then, based on the technique of finite-time control, the finite-time attitude tracking controller is designed such that the attitude decoupled control can be achieved in a finite time. A simulation example is given to demonstrate the efficiency of the proposed method.