Predefined Time Attitude Control for Quadrotor UAV with Output Constraints and Input Saturation
In this paper, we examine the predefined time flight control of a quadrotor UAV with output constraints and input saturation. The attitude tracking error of UAV is constrained by the tan-type barrier Lyapunov function. The undesirable effects of the saturated input limitations are addressed by introducing an auxiliary system. Then a predefined time tracking control strategy is designed and the stability of the scheme is analyzed. Eventually, the simulation results show the method allows the angular tracking error to converge to the specified range in a predefined time.
Authors
- Shuo Li (ORCID: https://orcid.org/0000-0001-9581-3554)
- Hailong Pei (ORCID: https://orcid.org/0000-0001-9955-3200)
Institutions
- South China University of Technology (CN)
Publication Details
- Published
- 2024-11-01
- DOI
- https://doi.org/10.1109/cac63892.2024.10865193
- Primary Topic
- Adaptive Control of Nonlinear Systems
- Type
- article
- Field-Weighted Citation Impact
- 0.00
Funders
- Aeronautical Science Foundation of China
- National Key Research and Development Program of China
- Fundamental Research Funds for the Central Universities