Disturbance-Observer-Based Fixed-Time Backstepping Control for Quadrotors with Input Saturation and Actuator Failure

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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Bibliographic Details
Main Authors: Tao Huang, Kang Liu, Yefeng Yang, Chih-Yung Wen, Xianlin Huang
Format: Article
Language:English
Published: MDPI AG 2025-01-01
Series:Drones
Subjects:
fixed-time backstepping control
input saturation
disturbance observer
actuator failure
quadrotor unmanned aerial vehicle
Online Access:https://www.mdpi.com/2504-446X/9/1/67
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