Fixed-Time Controller for Altitude/Yaw Control of Mini-Drones: Real-Time Implementation with Uncertainties

Gradually, it has become easier to use aerial transportation systems in practical applications. However, due the fixed-length wire, recent studies on load-suspended have revealed some constraints, especially when using quadrotor unmanned vehicles (UAVs). By actively adjusting distance between and payload, becomes possible carry out a variety of challenging tasks, including traversing confined spaces, collecting samples from offshore locations, even landing payload movable platform. Thus, mass variable should be equipped with trajectory tracking control mechanisms accomplish these tasks. Due above-mentioned reasons, present paper addresses problem altitude/yaw mini-quadrotor subject uncertainties. The main objective this is design fixed-time stable controller for perturbed motions, based results stability approach. For comparison other motion controllers such as dual proportional integral derivative (PID) loops were considered. To show its effectiveness, proposed was validated real under different scenarios shown good performance terms tracking.