Ornithopters have gained increasing attention as a promising area in unmanned aerial vehicle (UAV) research. However, the multi-joint landing mechanism of ornithopters exhibits strong nonlinearity, presenting considerable control challenges. Conventional model-free control strategies often prove inadequate for meeting the demands of rapid and stable landing operations. This paper presents a control scheme for the ornithopter-leg mechanical system based on the Backstepping method and Barrier Lyapunov Function (BLF), augmented with Non-overshoot Performance Constraints (NOPC) and Finite-time Stability (FTS) control to enhance both precision and response speed. Simulation results demonstrate that the proposed approach not only fulfills high-precision attitude control requirements but also ensures stability and effectiveness in a non-overshooting manner. The study aims to achieve fast positioning and locking for multi-joint mechanical structures and similar systems during landing, effectively eliminating the overshoot and oscillations frequently associated with model-free controllers upon initial activation. Furthermore, a modular design philosophy is adopted to maximize compatibility and facilitate multi-controller switching.
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