Fixed-Time Practical Antisaturation Attitude Tracking Control of QUAV With Prescribed Performance: Theory and Experiments

This paper investigates the fixed-time attitude tracking control problem for quadrotor unmanned aerial vehicle by considering actuator saturation and prescribed performance constraint. First, hyperbolic tangent function is used to deal with actuator saturation. Furthermore, by analyzing the relationship between the tracking error and the transient performance constraints, the prescribed performance function is designed to constrain the transient performance of tracking error. Then, a fixed-time tracking controller is addressed by the backstepping method and fuzzy logic systems, where it does not need the prior precise information of systems model. Theoretically, the stability of the closed-loop system is validated by Lyapunov stability theory. Finally, the hardware-in-the-loop test results validate the effectiveness of the proposed method.