ISE performance indexes of the scenario 2.

This paper presents a finite-time approach for tracking control of a quadrotor system subjected to external disturbances and model uncertainties. The proposed approach offers a preassigned performance guarantee. Firstly, integral terminal sliding manifolds and nonsingular terminal sliding manifolds are considered to produce the new hyperplane sliding variables for both position and attitude of a quadrotor. The designed hyperplane sliding variables guaranteed a finite-time convergence. The objective is to develop a finite-time control scheme for a disturbed quadrotor to follow a predefined trajectory based on a nonlinear sliding mode controller. The main contribution of this paper is to design a hyperplane-based nonlinear sliding mode control strategy for a quadrotor subjected to disturbances. A concept of robust controllers for a quadrotor is presented based on Lyapunov theory, which proves finite-time stability of the proposed control technique. Numerical simulations with two different scenarios verify the accuracy of the proposed hyperplane-based sliding mode control approach. The simulations study also included a comparison with another nonlinear controller. Results demonstrated overperformance of the proposed control strategy.

本文针对受外部扰动与模型不确定性影响的四旋翼系统（quadrotor system），提出一种有限时间跟踪控制方法。该方法可实现预先设定的性能约束保障。首先，针对四旋翼的位置与姿态通道，分别设计积分终端滑模流形与非奇异终端滑模流形，以生成新型超平面滑模变量。所设计的超平面滑模变量可保证系统实现有限时间收敛。本文的研究目标为：基于非线性滑模控制器（Sliding Mode Controller），为受扰四旋翼系统开发一套有限时间控制方案，使其能够跟踪预定义轨迹。本文的主要贡献在于：针对受扰四旋翼系统，设计一种基于超平面的非线性滑模控制策略。本文基于李雅普诺夫理论（Lyapunov theory）提出四旋翼鲁棒控制器的设计思路，并证明了所提控制技术的有限时间稳定性。针对两种不同仿真场景开展数值仿真，验证了所提基于超平面的滑模控制方法的准确性。本次仿真研究还与另一款非线性控制器进行了对比分析，结果表明所提控制策略的性能更具优势。