A quadrotor fixed-time control method is researched based on a tracking error performance function and a switching-type fixed-time extended state observer (FxTESO). The tracking error performance function is introduced to optimize the transient performance of quadrotor position control and yaw angle control. On this basis, the double-power fixed-time non-singular terminal sliding mode controller (FxTNTSMC) with prescribed performance is designed, which can stabilize the quadrotor control system within a fixed time. FxTESO is mainly used to estimate the disturbance. Furthermore, it is also used as a differentiator in the calculation of attitude angular velocity and angular acceleration guidance commands. Finally, through stability analysis and simulation, the stability, availability and superiority of the proposed quadrotor fixed-time control method are verified.
Fixed-Time ESO Based Prescribed Performance Fixed-Time Controller Design for a Quadrotor
Lect. Notes Electrical Eng.
2021-10-30
11 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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