Geometric prescribed‐time control of quadrotors with adaptive extended state observers

Abstract This article studies an adaptive extended state observer (AESO) based prescribed‐time geometric attitude stabilization problem of quadrotors with endogenous uncertainties, exogenous disturbances, and actuator saturation, which can be estimated and compensated by AESOs. The employment of the geometric representation method for system attitude can effectively avoid ambiguity or singularity problems that may arise with other representations. The temporal and scale transformations are employed to solve the global boundedness problem on infinite time instead of the prescribed‐time convergence problem on finite time. By integrating the proposed controller with the backstepping technique, the system of quadrotors can be prescribed‐time stable. Further, a prescribed‐time geometric attitude control technique is devised such that the control signal is bounded and the state signals converge to a small domain near the equilibrium point in the prescribed time. The prescribed time is determined by the user and is independent of the initial conditions. The comparative simulations with different initial information are performed to demonstrate the effectiveness of the proposed design technique.