Prescribed performance dynamic surface control for trajectory tracking of quadrotor UAV with uncertainties and input constraints
Zhipeng Shen, Feng Li, Cao Xiaoming, Chen Guo
Abstract
To solve the problem of trajectory tracking control for quadrotor UAV with control input saturation, a novel prescribed performance backstepping dynamic surface control scheme is proposed in the presence of the model uncertainties and unknown external disturbances. In this work, the hyperbolic tangent function is introduced to solve the problem of control input saturation, and construct an auxiliary equation to reduce the saturation effect. Furthermore, the method introduces prescribed performance function, and converts the original constrained system into an equivalent unconstrained system through error transformation. Subsequently, dynamic surface technology is introduced to reduce the complexity of the control algorithm. At the same time, the nonlinear extended state observer is designed to estimate the generalised disturbance of the aircraft system. Finally, the Lyapunov function is selected to prove that all signals of the closed-loop system are uniformly ultimately bounded. Taking DJI M100 aircraft as the simulation object, the results show that the designed controller can effectively solve the problem of control input constraints and enable the system to reach the prescribed transient and steady-state tracking performance indexes.