Nonlinear Extended State Observer Based Prescribed Performance Control for Quadrotor UAV with Attitude and Input Saturation Constraints

Nonlinear Extended State Observer Based Prescribed Performance Control for Quadrotor UAV with Attitude and Input Saturation Constraints

In this paper, a prescribed performance control scheme of the quadrotor unmanned aerial vehicle (UAV) under attitude and input saturation constraints is introduced. According to the underactuated feature, the quadrotor UAV system can be decomposed into an underactuated subsystem and a fully actuated...

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Bibliographic Details
Main Authors: Tie-Nan Ma, Rui-Dong Xi, Xiao Xiao, Zhi-Xin Yang
Format: Article
Language:English
Published: MDPI AG 2022-07-01
Series:Machines
Subjects:
quadrotor UAV
extended-state observer
prescribed performance control
input saturation
state constraint
Online Access:https://www.mdpi.com/2075-1702/10/7/551

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