An improved switched prescribed finite time attitude control for quadrotors

Summary The paper is devoted to the prescribed finite time attitude control for quadrotors. A novel prescribed finite time function is introduced, which is independent of initial conditions and design parameters. And a switched prescribed finite time controller is firstly designed, such that the quadrotor can not only converge to the desired attitude in a prescribed time, but also guarantee the stability of the quadrotor after the settling time. Simultaneously, it effectively avoids chattering issues at the controller's switching points. Finally, the simulation comparisons are carried out between the proposed control strategy and infinite time, finite time, traditional prescribed finite time control schemes to demonstrate the superiority of the developed controller.