High-Order Disturbance Observer-Based Fuzzy Fixed-Time Safe Tracking Control for Uncertain Unmanned Helicopter with Partial State Constraints and Multisource Disturbances

Abstract

In the real-world operation of unmanned helicopters, various state constraints, system uncertainties and multisource disturbances pose considerable risks to their safe fight. This paper focuses on anti-disturbance adaptive safety fixed-time control design for the uncertain unmanned helicopter subject to partial state constraints and multiple disturbances. Firstly, a developed safety protection algorithm is integrated with the fixed-time stability theory, which assures the tracking performance and guarantees that the partial states are always constrained within the time-varying safe range. Then, the compensation mechanism is developed to weaken the adverse impact induced by the filter errors. Simultaneously, the influence of the multisource disturbances on the system stability are weakened through the Ito^ differential equation and high-order disturbance observer. Further, the fuzzy logic system is constructed to approximate the system uncertainties caused by the sensor measurement errors and complex aerodynamic characteristics. Stability analysis proves that the controlled unmanned helicopter is semi-globally fixed-time stable in probability, and the state errors converge to a desired region of the origin. Finally, simulations are provided to illustrate the performance of the proposed scheme.

Keywords

• unmanned helicopter
• safety protection algorithm
• fuzzy logic system
• fixed-time stability theory
• command filter
• high-order disturbance observer