Numerical analyses and experimental validations of coexisting multiple attractors in Hopfield neural network |
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Authors: | Bocheng Bao Hui Qian Jiang Wang Quan Xu Mo Chen Huagan Wu Yajuan Yu |
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Institution: | 1.School of Electrical Engineering and Automation,Hefei University of Technology,Hefei,China |
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Abstract: | In this paper, a finite-time controller is proposed for the quadrotor aircraft to achieve hovering control in a finite time. The design of controller is mainly divided into two steps. Firstly, a saturated finite-time position controller is designed such that the position of quadrotor aircraft can reach any desired position in a finite time. Secondly, a finite-time attitude tracking controller is designed, which can guarantee that the attitude of quadrotor aircraft converges to the desired attitude in a finite time. By homogenous system theory and Lyapunov theory, the finite-time stability of the closed-loop systems is given through rigorous mathematical proofs. Finally, numerical simulations are given to show that the proposed algorithm has a faster convergence performance and a stronger disturbance rejection performance by comparing to the PD control algorithm. |
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