Flying velocity constraint control for quad-rotor system based on finite-Time control technique

For position tracking problem for quad-rotor system with velocity constrains, a finite-time position control method with velocity constrains is proposed in this paper. Firstly, based on backstepping design, a finite-time position tracking controller with velocity constraints is proposed to ensure that the desired position can be tracked in a finite time with velocity constrains. Finally, simulation results are given to verify the effectiveness and advantages of proposed position controller with velocity constrains.