Fragility-Rejection UAV Flight Control With Discrete-Time Constrained Dynamics Endowing Preselected Qualities

Our objective is to explore a finite-time tracking control protocol with fragility-rejection for discrete-time systems subject to saturation constrained dynamics, specifically in the field of UAV flight control. This protocol is capable of imposing desired transient and steady-state behaviors on tracking errors, while introducing transformed errors utilizing finite-time performance functions and stabilizing them indirectly through feedback terms developed using these functions in a back-stepping-like control design. Our approach introduces a structure that distinguishes it from existing transformed-error-stabilization-based prescribed performance control (PPC) methods. Furthermore, we propose a compensated system to modify the final feedback term and address actuator saturation, effectively resolving the challenging fragility issue associated with existing PPC approaches caused by error fluctuation due to actuator saturation in discrete-time systems. Finally, comparative simulation results obtained for flight control applications validate the effectiveness of our design.