Treffer: Lead-time attitude control of HIL system based on disturbance observer.

This paper aims to solve two complex problems in the flight control of quadrotor unmanned aerial vehicle (QUAV) hardware-in-the-loop (HIL): 1) The time-varying function tends to infinity around the prescribed time T , which may cause the system chattering; and 2) The effectiveness of the proposed algorithm in HIL and its anti-interference capability in real-world flight scenarios. A novel time-varying piecewise function is introduced in this paper, the switching points are made to occur before the setting time, and mathematical calculations are used to ensure that the stabilization time is less than the setting time. This approach reduces chattering in the system. A lead-time disturbance observer is proposed to estimate the complex disturbances encountered by the QUAV. Subsequently, by combining the sliding mode control theory with the novel time-varying switching function, the attitude system of QUAV is lead-time stability. Finally, the effectiveness of the proposed control scheme under disturbances is validated through numerical simulations and hardware-in-the-loop (HIL) experiments. [ABSTRACT FROM AUTHOR]