Backstepping control with fixed-time prescribed performance for fixed wing UAV under model uncertainties and external disturbances

Date published

2020-10-15

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Volume Title

Publisher

Taylor and Francis

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Type

Article

ISSN

0020-7179

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Citation

Tan J, Guo S. (2022) Backstepping control with fixed-time prescribed performance for fixed wing UAV under model uncertainties and external disturbances. International Journal of Control, Volume 95, Issue 4, 2022, pp. 934-951

Abstract

In this paper, a novel backstepping control scheme with fixed-time prescribed performance is proposed for the longitudinal model of fixed wing UAV subject to model uncertainties and external disturbances. The novel performance function with arbitrarily preassigned fixed-time convergence property is developed, which imposes priori performance envelops on both altitude and airspeed tracking errors. By using error transformed technology, the constrained fixed-time performance envelops are changed into unconstrained equivalent errors. Based on modified error compensation mechanism, a novel backstepping approach is proposed to guarantee altitude tracking equivalent error converges to the specified small neighborhood and presents excellent robustness against model uncertainties and external disturbances, and airspeed controller with fixed-time prescribed performance is designed. The proposed methodology guarantees the transient and steady-state performance of altitude and airspeed tracking errors within constrained fixed-time performance envelops in spite of lumped disturbances. Finally, numerical simulations are used to verify the effectiveness of the proposed control scheme

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Github

Keywords

backstepping control, fixed-time control, prescribed performance, UAV

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Attribution-NonCommercial 4.0 International

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