Quadrotor Trajectory Tracking Control Based on Specified Time Convergence

Quadrotor UAVs are widely used in various fields due to their simple airframe structure and high maneuverability. With the complexity of the flight mission, higher control requirements are put forward for the quadrotor UAV system. In this paper, firstly, a complete mathematical model of quadrotor UAV is established, and secondly, a specified time controller with the advantages of fast convergence speed and high control accuracy is designed. In order to improve the convergence speed, the design method of the specified time controller based on disturbance observer is proposed for the attitude loop. Finally, the control method proposed in this paper is verified through simulation experiments to ensure that the quadcopter UAV can accurately estimate the interference value when it is subjected to external interference, and realize high-precision trajectory tracking control at the specified time.