To improve the robustness of carrier-based unmanned aerial vehicle (UAV) with actuator faults attitude tracking control system, this paper aims to propose a fixed-time backstepping (FXTBSC) fault-tolerant control based on a fixed-time extended state observer.

    Design/methodology/approach

    A fixed-time extended state observer (FXTESO) is designed to estimate the total disturbance including nonlinear, coupling, actuator faults and external disturbances. The integration of backstepping control and fixed-time technology ensures fixed-time convergence.

    Findings

    The simulation results of tracking the desired attitude angle show that the anti-interference, fault tolerance and tracking accuracy of FXTBSC-FXTESO are better than the BSC-ESO control method.

    Originality/value

    Different from the traditional BSC-ESO, the convergence speed and convergence accuracy of FXTBSC-FXTESO proposed in this paper are better than conventional extended state observer. And the fixed time controller has the advantages of high tracking accuracy, fault tolerance and anti-interference ability.


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    Title :

    Fixed-time fault-tolerant attitude tracking control for UAV based on fixed-time extended state observer


    Contributors:
    Wu, Qilong (author) / Zhu, Qidan (author)

    Published in:

    Publication date :

    2024-08-07


    Size :

    7 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English