Finite-time adaptive optimal tracking control for a QUAV

Considering the problem of trajectory tracking control for a quadrotor unmanned aerial vehicle, the command filter-based finite-time adaptive optimal control strategy is proposed. By utilizing a finite-time command filter to rapidly approximate the derivative of virtual control signal and designing fractional power error compensating signal, the problem of “explosion of complexity” and the effect of filtered error are removed simultaneously. Furthermore, the adaptive dynamic programming technique is used to construct a critic-actor network, which enables the optimization of the compensated tracking errors and control signals. The proposed finite-time optimal control scheme ensures the minimization of the performance index function and guarantees the finite-time boundedness of all signals in closed-loop system, and the position and attitude tracking errors are driven into a sufficiently small neighborhood of the origin in a finite time. Finally, the validity and superiority of the presented finite-time adaptive optimal control algorithm are verified by a simulation example.