Predefined time trajectory tracking control and hardware in loop verification for quadrotor UAV under input delay and disturbances

This paper deals with the predefined time trajectory tracking control of quadrotor unmanned aerial vehicle (UAV) system in the presence of input delay and external disturbances. By combining the backstepping with the predefined time nonlinear disturbance observer, the uncertainty caused by the external disturbance is eliminated, enabling the UAV to reach the control target within a predefined time. Moreover, in order to compensate for the impact of the control input delay, an appropriate auxiliary system is introduced. Simulation and hardware-in-the-loop (HIL) experimental are carried out to show the effectiveness of the proposed control scheme.