Fuzzy-Based Fixed-Time Attitude Control of Quadrotor Unmanned Aerial Vehicle With Full-State Constraints: Theory and Experiments

This article studies the fuzzy-based fixed-time attitude control problem for quadrotor unmanned aerial vehicle under full-state constraints. The backstepping method is utilized to design the fixed-time attitude controller. To avoid the singularity problem, a new switching function is designed in the controller design. Barrier Lyapunov functions are employed to ensure that the system states always satisfy the constraints, and fuzzy logic systems (FLSs) are introduced to approximate the unknown nonlinear functions of the system model. It is proved that the tracking errors converge to a small region around the origin in fixed time. To validate the effectiveness of the method, software-in-loop simulation and practical flight experiments are carried out with the PX4 platform.