Prescribed-time fault-tolerant tracking control for quadrotor UAV with guaranteed performance

IF 5 1区工程技术 Q1 ENGINEERING, AEROSPACE

Aerospace Science and Technology Pub Date : 2025-03-24 DOI:10.1016/j.ast.2025.110162

Miaomiao Tian , Nan Wang , Zhikai Wang , Zhumu Fu , Fazhan Tao

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引用次数: 0

Abstract

During the actual flight of unmanned aerial vehicle (UAV), there are widespread actuator faults, system uncertainties and external disturbances, which bring significant threats to its steady flight. This paper studies the problem of prescribed-time fault-tolerant tracking control for quadrotor UAV with guaranteed performance. By integrating error reconstruction and dynamic adjustment strategies, this paper ensures that the position and attitude tracking errors converge to the preset performance range within the prescribed time. Furthermore, this paper utilizes the disturbance observer failure compensation method to simultaneously handle the multiplicative and additive failures of the actuator simultaneously, and presents a nonlinear observer-based adaptive strategy to estimate additive faults and unknown external disturbances acting on the UAV. Simulation results show that the position and attitude tracking errors converge to the preset accuracy within the prescribed time without actuator failures. When actuator failures occur, the attitude tracking error still converges on time, and the convergence rate of position error is minimally affected. Thus, the proposed control algorithm for quadrotor UAV is validated.

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来源期刊

Aerospace Science and Technology 工程技术-工程：宇航

CiteScore

10.30

自引率

28.60%

发文量

654

审稿时长

54 days

期刊介绍： Aerospace Science and Technology publishes articles of outstanding scientific quality. Each article is reviewed by two referees. The journal welcomes papers from a wide range of countries. This journal publishes original papers, review articles and short communications related to all fields of aerospace research, fundamental and applied, potential applications of which are clearly related to: • The design and the manufacture of aircraft, helicopters, missiles, launchers and satellites • The control of their environment • The study of various systems they are involved in, as supports or as targets. Authors are invited to submit papers on new advances in the following topics to aerospace applications: • Fluid dynamics • Energetics and propulsion • Materials and structures • Flight mechanics • Navigation, guidance and control • Acoustics • Optics • Electromagnetism and radar • Signal and image processing • Information processing • Data fusion • Decision aid • Human behaviour • Robotics and intelligent systems • Complex system engineering. Etc.