Fixed-Time Adaptive Tracking Control for a Quadrotor Unmanned Aerial Vehicle with Input Saturation

Considering the problem of tracking control for a quadrotor unmanned aerial vehicle (QUAV) with input saturation, parameter uncertainties and external disturbances, command filtered backstepping-based fixed-time adaptive scheme was developed. The “explosion complexity” (EOC) is tackled by utilizing filter, influence error removed based on fractional power-error-compensation mechanism. A auxiliary system designed to compensate saturation QUAV. It strictly proves that closed-loop signals are bounded, errors converge sufficiently small region near origin in fixed time, convergence time independent initial states. Finally, effectiveness proposed algorithm demonstrated via numerical simulation.