Disturbance-Observer-Based Fixed-Time Backstepping Control for Quadrotors with Input Saturation and Actuator Failure
This paper investigates the fixed-time tracking control problem of an unmanned aerial vehicle (UAV) considering the disturbance, input saturation, and actuator failure. According to the hierarchical control principle, the UAV dynamics are decomposed into a translational and rotational loop to accomm...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-01-01
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| Series: | Drones |
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| Online Access: | https://www.mdpi.com/2504-446X/9/1/67 |
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| author | Tao Huang Kang Liu Yefeng Yang Chih-Yung Wen Xianlin Huang |
| author_facet | Tao Huang Kang Liu Yefeng Yang Chih-Yung Wen Xianlin Huang |
| author_sort | Tao Huang |
| collection | DOAJ |
| description | This paper investigates the fixed-time tracking control problem of an unmanned aerial vehicle (UAV) considering the disturbance, input saturation, and actuator failure. According to the hierarchical control principle, the UAV dynamics are decomposed into a translational and rotational loop to accommodate the controller design. A novel nonsingular fixed-time backstepping controller based on switching variables is proposed to achieve fast convergence of system tracking errors within a fixed time. To overcome the effect of the disturbance and the actuator failure, two fixed-time disturbance observers are designed in two loops, respectively. By integrating the fixed-time auxiliary variables into the dynamic controllers, the problem of input saturation can be addressed. In addition, the tracking errors of the closed-loop system converge to the neighborhood of the origin in a fixed time. Finally, sufficient simulation results verify the validity of the proposed control framework for the UAV. |
| format | Article |
| id | doaj-art-1536b85360904393b1a111de7a65ebe4 |
| institution | Kabale University |
| issn | 2504-446X |
| language | English |
| publishDate | 2025-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Drones |
| spelling | doaj-art-1536b85360904393b1a111de7a65ebe42025-01-24T13:29:51ZengMDPI AGDrones2504-446X2025-01-01916710.3390/drones9010067Disturbance-Observer-Based Fixed-Time Backstepping Control for Quadrotors with Input Saturation and Actuator FailureTao Huang0Kang Liu1Yefeng Yang2Chih-Yung Wen3Xianlin Huang4Center for Control Theory and Guidance Technology, Harbin Institute of Technology, Harbin 150001, ChinaDepartment of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Hong Kong 100872, ChinaCenter for Control Theory and Guidance Technology, Harbin Institute of Technology, Harbin 150001, ChinaDepartment of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Hong Kong 100872, ChinaCenter for Control Theory and Guidance Technology, Harbin Institute of Technology, Harbin 150001, ChinaThis paper investigates the fixed-time tracking control problem of an unmanned aerial vehicle (UAV) considering the disturbance, input saturation, and actuator failure. According to the hierarchical control principle, the UAV dynamics are decomposed into a translational and rotational loop to accommodate the controller design. A novel nonsingular fixed-time backstepping controller based on switching variables is proposed to achieve fast convergence of system tracking errors within a fixed time. To overcome the effect of the disturbance and the actuator failure, two fixed-time disturbance observers are designed in two loops, respectively. By integrating the fixed-time auxiliary variables into the dynamic controllers, the problem of input saturation can be addressed. In addition, the tracking errors of the closed-loop system converge to the neighborhood of the origin in a fixed time. Finally, sufficient simulation results verify the validity of the proposed control framework for the UAV.https://www.mdpi.com/2504-446X/9/1/67fixed-time backstepping controlinput saturationdisturbance observeractuator failurequadrotor unmanned aerial vehicle |
| spellingShingle | Tao Huang Kang Liu Yefeng Yang Chih-Yung Wen Xianlin Huang Disturbance-Observer-Based Fixed-Time Backstepping Control for Quadrotors with Input Saturation and Actuator Failure Drones fixed-time backstepping control input saturation disturbance observer actuator failure quadrotor unmanned aerial vehicle |
| title | Disturbance-Observer-Based Fixed-Time Backstepping Control for Quadrotors with Input Saturation and Actuator Failure |
| title_full | Disturbance-Observer-Based Fixed-Time Backstepping Control for Quadrotors with Input Saturation and Actuator Failure |
| title_fullStr | Disturbance-Observer-Based Fixed-Time Backstepping Control for Quadrotors with Input Saturation and Actuator Failure |
| title_full_unstemmed | Disturbance-Observer-Based Fixed-Time Backstepping Control for Quadrotors with Input Saturation and Actuator Failure |
| title_short | Disturbance-Observer-Based Fixed-Time Backstepping Control for Quadrotors with Input Saturation and Actuator Failure |
| title_sort | disturbance observer based fixed time backstepping control for quadrotors with input saturation and actuator failure |
| topic | fixed-time backstepping control input saturation disturbance observer actuator failure quadrotor unmanned aerial vehicle |
| url | https://www.mdpi.com/2504-446X/9/1/67 |
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