Dynamic Surface Trajectory Tracking Control for Quadrotor UAV with Prescribed Performance

Abstract

To solve the trajectory tracking problem for quadrotor UAV with model uncertainties and unknown external disturbances, a novel prescribed performance backstepping dynamic surface control(DSC) scheme is proposed. Firstly, a performance function is introduced, an error transformation is proposed to transform the original constrained system into an equivalent unconstrained one. Furthermore, by the method of backstepping and dynamic surface technique, which can reduce the complexity of the control algorithm, the extended state observer(ESO) is designed to estimate compound disturbance terms of the system. Finally, by using Lyapunov analysis, it is proven that all signals of the closed-loop trajectory tracking system are the uniformly ultimate boundedness under the proposed control strategy. The simulation results on DJI M100 aircraft model show that the effectiveness of the proposed scheme is validated.