Disturbance-observer-based Fixed-time Attitude Control for QUAV with State Constraints and External Disturbances

Abstract

The work presented in this article focuses on designing a disturbance-observer-based fixed-time controller for the quadrotor unmanned aerial vehicle (QUAV) system, which aims to research the attitude control issues of QUAV with state constraints and external disturbances. Firstly, a novel controller depend on adding one power integrator and fixed-time control technique is introduced to implement finite time convergence regardless of original states. Then, the external disturbances of QUAV system are estimated via the disturbance observer. Futhermore, the proposed method is demonstrated to be fixed-time stable through barrier Lyapunov analysis. In the end, theoretical results are also illustrated and supported by simulation studies.