标题： 基于统一有限时间滑模四元数的四旋翼无人机跟踪控制，无需时间尺度分离 显示英文标题

标题： A Unified Finite-Time Sliding Mode Quaternion-based Tracking Control for Quadrotor UAVs without Time Scale Separation

摘要： 本文提出了一种用于四旋翼无人飞行器（UAVs）有限时间位置控制的新设计。引入了一种鲁棒的、有限时间的非线性反馈控制器，以在跟踪任务中抑制有界扰动。所提出的控制框架在概念上与传统控制器不同，传统控制器使用欧拉角参数化进行姿态控制，并遵循传统的内外环分层设计。在标准方法中，首先计算平移控制器和相应的期望姿态，然后根据快速姿态动态和缓慢平移动态之间的时标分离来设计姿态控制器。相反，所提出的控制方案基于四元数，并在姿态动力学中利用了一个前馈项，该前馈项预测了较慢的平移子系统。通过使用连续可微的滑动流形实现鲁棒性。所提出的方法保证了半全局有限时间稳定性，而无需时标分离。最后，提供了数值仿真结果以证明所提出控制器的有效性。 显示英文摘要

摘要： This paper presents a novel design for finite-time position control of quadrotor Unmanned Aerial Vehicles (UAVs). A robust, finite-time, nonlinear feedback controller is introduced to reject bounded disturbances in tracking tasks. The proposed control framework differs conceptually from conventional controllers that utilize Euler angle parameterization for attitude and adhere to the traditional hierarchical inner-outer loop design. In standard approaches, the translational controller and the corresponding desired attitude are computed first, followed by the design of the attitude controller based on time-scale separation between fast attitude and slow translational dynamics. In contrast, the proposed control scheme is quaternion-based and utilizes a transit feed-forward term in the attitude dynamics that anticipates the slower translational subsystem. Robustness is achieved through the use of continuously differentiable sliding manifolds. The proposed approach guarantees semi-global finite-time stability, without requiring time-scale separation. Finally, numerical simulation results are provided to demonstrate the effectiveness of the proposed controller.