Disturbance Rejection Control of Flying Rifle Based on Adaptive Prescribed Performance

In this study, an adaptive disturbance rejection control strategy with a dynamic performance constraint mechanism is proposed to address the risks, including system singularity caused by random perturbations and control instability caused by unstructured perturbations in multi-rotor probing and fighting vehicles. While retaining the high cost-effectiveness ratio, the vehicle innovatively enables the dynamic adjustment of the control boundary and the synchronous compensation of compound disturbances. This innovation is realized by constructing a synergistic architecture of the time-varying prescribed performance function and the disturbance observer. Compared with the traditional prescribed performance control method, this strategy effectively enhances the disturbance suppression capability of the system under the premise of ensuring the transient response.