Fixed Time Disturbance Observer Based Adaptive Fuzzy Control for QUAV with State Constraints

This study examines a fixed-time control issue for quadrotor unmanned aerial vehicles (QUAVs) involving state constraints and external disturbances. Firstly, an integral barrier Lyapunov function is employed to maintain the system states within predefined boundaries. Fuzzy logic systems are utilized to approximate the unknown nonlinearities. A fixed-time disturbance observer is developed to compensate for complex disturbances. Secondly, a fixed-time stability controller is synthesized via the backstepping method, ensuring that all state variables of the system remain uniformly bounded in fixed time. The stability is demonstrated through the application of Lyapunov stability theory. Finally, numerical simulations validate the efficacy of the proposed control scheme.