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.


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    Title :

    Fixed-Time ESO Based Prescribed Performance Fixed-Time Controller Design for a Quadrotor


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Yan, Liang (editor) / Duan, Haibin (editor) / Yu, Xiang (editor) / Hou, Xiuying (author) / Cui, Lei (author) / Chang, Shaoping (author) / Zong, Yantao (author)


    Publication date :

    2021-10-30


    Size :

    11 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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