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Fixed-Time Command-Filtered Prescribed Performance Control of Quadrotor UAVs With External Disturbances
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DOI：10.1002/acs.70112.png)
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Abstract
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This paper proposes an adaptive fixed-time prescribed performance trajectory tracking control strategy based on finite-time command filtering for a class of quadrotor systems affected by external disturbances. Firstly, a nonlinear mapping and an error transformation function are introduced to establish an equivalent error model. Secondly, based on the backstepping method, fixed-time control, and adaptive control, a command-filter-based prescribed performance trajectory tracking controller for quadrotor systems with external disturbances is designed. This control strategy incorporates a command filter and fuzzy logic systems into the control framework. The command filter effectively avoids the repeated differentiation problem of the virtual control laws, significantly reducing computational complexity. The fuzzy logic systems are used to approximate the disturbance terms and unknown nonlinear terms in the model, enhancing the systems' robustness. In addition, the combination of prescribed performance control and fixed-time control ensures that the system tracking error converges within the boundaries defined by the prescribed performance function within a fixed-time, and the convergence time is independent of the systems' initial conditions. Finally, simulations verify the effectiveness and superiority of the proposed control method.
Keywords:
adaptive trajectory tracking
backstepping control
fixed-time control
prescribed performance
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