Prescribed Performance Fault-Tolerant Attitude Tracking Control for UAV with Actuator Faults

Abstract

This paper proposes a prescribed performance fault-tolerant control based on a fixed-time extended state observer (FXTESO) for a carrier-based unmanned aerial vehicle (UAV). First, the attitude motion model of the UAV is introduced. Secondly, the proposed FXTESO is designed to estimate the total disturbances including coupling, actuator faults and external disturbances. By using the barrier Lyapunov function (BLF), it is proved that under prescribed performance control (PPC), the attitude tracking error is stable within the prescribed range. The simulation results for tracking the desired attitude angle show that the average overshoot and stabilization time of PPC-FXTESO is 0.00455rad and 6.2s. Comparatively, the average overshoots of BSC-ESO and BSC-FTESO are 0.035rad and 0.027rad, with stabilization times of 14.97s and 12.56s, respectively. Therefore, the control scheme proposed in this paper outperforms other control schemes.