Fixed-Time Controller Design for a Quadrotor UAV with Asymmetric Output Error Constraints  

作　　者：WANG Fang MA Zhigang ZHOU Chao ZHANG Zheng HUA Changchun ZONG Qun 

机构地区：[1]School of Science,Yanshan University,Qinhuangdao 066004,China [2]Ocean College,Hebei Agricultural University,Qinhuangdao 066003,China [3]School of Electric Engineering,Yanshan University,Qinhuangdao 066004,China [4]School of Electrical and Information Engineering,Tianjin University,Tianjin 300072,China

出　　处：《Journal of Systems Science & Complexity》2023年第5期1981-2000,共20页系统科学与复杂性学报（英文版）

基　　金：supported by Science and Technology Project of Hebei Education Department under Grant No.ZD2022012;the Natural Science Foundation of Hebei Province under Grant Nos.F2020203105 and F2022203085;the National Natural Science Foundation of China under Grant No.62073234;Central Government Guided Local Science and Technology Development Fund Project under Grant No.236Z1601G。

摘　　要：In this article,a fixed-time tracking control strategy is proposed for a quadrotor UAV(QUAV)with external disturbance and asymmetric output error constraints.Firstly,a dynamic model of the QUAV is transformed into a strict feedback system with external disturbance,and it is decoupled into attitude subsystem and position subsystem for simplifying controller design.Secondly,an asymmetric tangent barrier Lyapunov function(ATBLF)is applied to solve the tracking error constraints problem,and a fixed-time control law is designed.Meanwhile,a fixed-time disturbance observer(FTDO)is designed to cope with external disturbance.Then,it is proved that the designed controller guarantees the tracking error remains within the constraint ranges and converges to zero in fixed-time by Lyapunov stability theory.Finally,the effectiveness of the proposed control scheme is verified by numerical simulations.

关 键 词：Asymmetric tangent barrier Lyapunov function(ATBLF) fixed-time disturbance observer(FTDO) output error constraints quadrotor UAV(QUAV) 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] V279[自动化与计算机技术—控制科学与工程] V249.1[航空宇航科学与技术—飞行器设计]