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Fixed-time fault-tolerant attitude tracking control for UAV based on fixed-time extended state observer

Qilong Wu, Qidan Zhu

Aircraft Engineering and Aerospace Technology

ISSN: 0002-2667

Article publication date: 2 August 2024

Issue publication date: 7 August 2024

112

Abstract

Purpose

To improve the robustness of carrier-based unmanned aerial vehicle (UAV) with actuator faults attitude tracking control system, this paper aims to propose a fixed-time backstepping (FXTBSC) fault-tolerant control based on a fixed-time extended state observer.

Design/methodology/approach

A fixed-time extended state observer (FXTESO) is designed to estimate the total disturbance including nonlinear, coupling, actuator faults and external disturbances. The integration of backstepping control and fixed-time technology ensures fixed-time convergence.

Findings

The simulation results of tracking the desired attitude angle show that the anti-interference, fault tolerance and tracking accuracy of FXTBSC-FXTESO are better than the BSC-ESO control method.

Originality/value

Different from the traditional BSC-ESO, the convergence speed and convergence accuracy of FXTBSC-FXTESO proposed in this paper are better than conventional extended state observer. And the fixed time controller has the advantages of high tracking accuracy, fault tolerance and anti-interference ability.

Keywords

Acknowledgements

This research was funded by the National Natural Science Foundation of China (Grant Number 52171299).

Citation

Wu, Q. and Zhu, Q. (2024), "Fixed-time fault-tolerant attitude tracking control for UAV based on fixed-time extended state observer", Aircraft Engineering and Aerospace Technology, Vol. 96 No. 6, pp. 838-844. https://doi.org/10.1108/AEAT-02-2024-0040

Publisher

:

Emerald Publishing Limited

Copyright © 2024, Emerald Publishing Limited

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