This paper addresses the prescribed time performance attitude tracking control problem of un-manned aerial vehicles under unknown attacks and input saturation. The attitude error dynamic model is constructed under the framework of Lie group SO(3). By integrating a prescribed time performance function with coordinate transformation, the tracking error can remain within a given region in a prescribed time. In the backstepping design process, a first-order sliding mode differentiator is given to overcome the explosion of complexity problem, and nonlinear disturbance observer is developed to deal with the unknown attacks and input saturation. A prescribed time performance attitude tracking control method is designed to ensure that all of the closed-loop signals are bounded. Finally, the superiority and effectiveness of the designed controller are stated by the simulation results.
Prescribed Time Attitude Tracking Control of Unmanned Aerial Vehicles Under Unknown Attacks and Input Saturation
2024-06-18
602884 byte
Conference paper
Electronic Resource
English
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