Work

Fixed-Time Tracking Control for Underactuated Quadrotor UAVs with User-Defined Time Constraints

Year: 2026

Type: article

Abstract: This paper investigates the fixed-time tracking control problem for underactuated quadrotor unmanned aerial vehicle systems subject to mass parameter uncertainties and user-defined time constraints. For the parameter uncertainties inherent in the system, the approximation capability of neural networks is exploited for compensation. Combined with the backstepping technique, this work proposes a new adaptive control strategy to ensure that the error variable converges within a small region near zero within a fixed time, and the designed controller effectively avoids singularity issues. Furthermore, a unified constraint framework with a shift function is introduced into the controller design, thereby providing a unified framework for user-defined time constraints that can flexibly handle different constraint scenarios without altering the control architecture. Finally, simulations are conducted to validate the effectiveness of the proposed method.

Source: Actuators

DOI: 10.3390/act15050270

Authors: Jie Wang, He Li, Xing Zhuang, Yaohua Shen, Zheng Qiu

Institutions: Jiangsu University of Science and Technology, Tsinghua University

Language: English

Topic: Adaptive Control of Nonlinear Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $2,896

Funder: Jiangsu Provincial Department of Education