| Fixed-Time Controller Design for a Quadrotor UAV with Asymmetric Output Error Constraints |
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| 作者姓名： | WANG Fang MA Zhigang ZHOU Chao ZHANG Zheng HUA Changchun ZONG Qun |
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| 作者单位： | 1. School of Science, Yanshan University;2. Ocean College, Hebei Agricultural University;3. School of Electric Engineering, Yanshan University;4. School of Electrical and Information Engineering, Tianjin University |
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| 基金项目： | supported by Science and Technology Project of Hebei Education Department under Grant No. ZD2022012；;the Natural Science Foundation of Hebei Province under Grant Nos. F2020203105 and F2022203085；;the National Natural Science Foundation of China under Grant No. 62073234； |
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| 摘 要： | In this article, a fixed-time tracking control strategy is proposed for a quadrotor UAV(QUAV) with external disturbance and asymmetric output error constraints. Firstly, a dynamic model of the QUAV is transformed into a strict feedback system with external disturbance, and it is decoupled into attitude subsystem and position subsystem for simplifying controller design. Secondly,an asymmetric tangent barrier Lyapunov function(ATBLF) is applied to solve the tracking error constraints problem, and ...
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