Research on Prescribed-Time Attitude Control of UAVs under Uncertain Disturbances

This paper addresses the issues of anti-disturbance control and convergence time optimization by proposing a prescribed-time control algorithm. The main contributions include: (1) For the attitude system, a prescribed-time super-twisting sliding mode controller is designed to reduce chattering through the super-twisting algorithm, ensuring attitude convergence within a preset time; (2) A prescribed-time extended state observer (ESO) is developed to achieve zero estimation error within a preset time, combined with disturbance compensation to enhance anti-disturbance performance and a switching strategy to avoid abrupt changes in observed values. Simulation results demonstrate that the proposed algorithm significantly shortens convergence time, improves robustness, and enhances control precision under disturbances, providing theoretical support for UAV operations in complex environments.