This paper investigates the fixed-time tracking control problem of an unmanned aerial vehicle (UAV) considering the disturbance, input saturation, and actuator failure. According to the hierarchical control principle, the UAV dynamics are decomposed into a translational and rotational loop to accommodate the controller design. A novel nonsingular fixed-time backstepping controller based on switching variables is proposed to achieve fast convergence of system tracking errors within a fixed time. To overcome the effect of the disturbance and the actuator failure, two fixed-time disturbance observers are designed in two loops, respectively. By integrating the fixed-time auxiliary variables into the dynamic controllers, the problem of input saturation can be addressed. In addition, the tracking errors of the closed-loop system converge to the neighborhood of the origin in a fixed time. Finally, sufficient simulation results verify the validity of the proposed control framework for the UAV.


    Access

    Download


    Export, share and cite



    Title :

    Disturbance-Observer-Based Fixed-Time Backstepping Control for Quadrotors with Input Saturation and Actuator Failure


    Contributors:
    Tao Huang (author) / Kang Liu (author) / Yefeng Yang (author) / Chih-Yung Wen (author) / Xianlin Huang (author)


    Publication date :

    2025




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown




    Nonlinear Disturbance Observer-Based Backstepping Control of Tail-Sitter Quadrotors

    Dalwadi, Nihal / Deb, Dipankar / Ozana, Stepan | Springer Verlag | 2023





    Disturbance Observer-Based Integral Backstepping Control for UAVs

    Moeini, Amir / Rafique, Muhammad Awais / Xue, Zhijun et al. | IEEE | 2020