Disturbance-Observer-Based Fixed-Time Backstepping Control for Quadrotors with Input Saturation and Actuator Failure

Disturbance-Observer-Based Fixed-Time Backstepping Control for Quadrotors with Input Saturation and Actuator Failure

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This paper investigates the fixed-time tracking control problem of an unmanned aerial vehicle (UAV) considering the disturbance, input saturation, and actuator failure.According to the hierarchical control principle, the UAV dynamics are decomposed into a translational and rotational loop to accommodate the controller design.A novel nonsingular fixed-time backstepping controller based on switching variables underwater treasures sunken medallion is proposed to achieve fast convergence of system tracking errors within a fixed time.To overcome the effect of the disturbance and the actuator failure, two fixed-time disturbance observers are designed in two loops, respectively.

By integrating the fixed-time auxiliary variables into the dynamic controllers, the problem of input saturation can be addressed.In addition, guerlain ideal cologne the tracking errors of the closed-loop system converge to the neighborhood of the origin in a fixed time.Finally, sufficient simulation results verify the validity of the proposed control framework for the UAV.