Robust finite-time attitude stabilization of rigid aircraft under angular velocity constraints

In this paper, the attitude stabilization control problem of rigid aircrafts under angular velocity constraints is studied. A composite finite time attitude control scheme based on disturbance observers is proposed. Firstly for the attitude control system of rigid aircrafts based on the modified rodriguez parameters (MRPs), a finite-time attitude controller with an angular velocity constraint term is designed based on the homogeneous theory and making full use of the system model structure characteristics, under which the attitude can be stabilized to the equilibrium in a finite time. At the same time, the angular velocity can be constrained in the expected range at any time if the initial state satisfies the restricted condition. Then, in the presence of external disturbance, A composite finite-time attitude stabilization controller with disturbance-estimation-compensation is proposed. Finally, the effectiveness and superiority of the proposed control scheme are verified by comparing with the other two control methods.