Predefined-time adaptive trajectory tracking control for a quadrotor UAV
ZHU Guan-chao
CUI Guo-zeng
MA Qian
LI Ze
Abstract：This paper proposes a command filter-based predefined-time adaptive trajectory tracking control scheme for a quadrotor unmanned aerial vehicle(UAV)with external disturbances and dynamic uncertainties.By introducing the command filter and constructing the nonsmooth error compensation mechanism,the"explosion of complexity"problem is effectively addressed as well as the influence of filtered error for the system performance is eliminated in a predefined time.The proposed predefined-time adaptive trajectory tracking control scheme ensures that the closed-loop system is practically predefined-time stable,and the closed-loop signals are predefined-time bounded.By adjusting the control parameters,the position and attitude tracking errors can converge to the neighbourhood of the origin in a predefined time.Finally,a simulation example verifies the effectiveness and superiority of the presented predefined-time control strategy.
Keywords：quadrotor UAVpredefined-time controlcommand filtered backstepping
Publication Date：2025-03-31
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：8( 601-608 )