Quadrotor attitude control with a modified fixed‐time synergetic controller: A geometric analysis and experimental validation

Abstract

This article proposes a novel modified fixed‐time synergetic control (MFTSC) approach to address the quadrotor control problem in the presence of external disturbances. In contrast to previous fixed‐time synergetic control (FTSC) methods, the proposed approach employs an aggregate macrovariable expression with independent fractional powers. This expression expands the set of real numbers that the parameters of the fractional power can take, leading to a significantly higher rate of convergence toward optimal control parameters (more than 28‐fold), as demonstrated through geometric analysis. The stability of the proposed control system is established, and numerical simulations and experimental validation are conducted using a quadrotor test bench to corroborate the theoretical results.