Fixed-time control of quadrotor UAVs with prescribed performance constrains
HU Zhong-quan
HUA Chang-chun
ZHANG Liu-liu
CHEN Jian-nan
ZHANG Cong
Abstract：A prescribed performance control strategy based on a fixed time extended state observer is proposed for trajectory tracking control problem of quadrotor unmanned aerial vehicles with unmeasurable velocity information and unknown time-varying disturbances.Firstly,the precise observation of unknown velocity and unknown time-varying dis-turbance can be achieved by designing a fixed-time extended state observer,and it can reduce the dependence on the system model for controller designing;Then,the transient steady-state process constraints and fixed time trajectory tracking are achieved by introducing time-varying constraint function and fixed-time control methods;Furthermore,it is proven that the designed observer and controller can ensure fixed-time stability of the system through the Lyapunov method;Finally,numerical simulation and experiment are conducted to validate the effectiveness and practicality of the proposed method.
Keywords：quadrotor UAVsextended state observersliding mode controlfixed-timeprescribed performance control
Publication Date：2025-06-30
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：11( 1216-1226 )