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<p>For multiple six-rotor unmanned aerial vehicles (UAVs) with input saturation, this essay looks into the issue of adaptive attitude control based on predefined-time disturbance estimator (PTDE) under directed communication network. The multiple six-rotor UAVs considered are regarded as nonlinear multi-agent systems (MASs). To address the impact of input saturation, a smooth function and the mean-value theorem are used. Via the backstepping recursive algorithm, an effective adaptive control method is proffered by combining fuzzy logic system (FLS) and predefined-time theory. Unlike some existing control schemes for multi-UAVs, the developed control scheme allows one to shun the chattering phenomenon. Additionally, the developed controller assures that the consensus tracking errors converge to a small neighborhood of the origin within an expected settling time and all signals of the multiple six-rotor UAV attitude systems are bounded. Eventually, by means of simulation results, the effectiveness of the suggested control scheme was illustrated.</p>

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Disturbance Estimator-based Predefined-time Adaptive Fuzzy Attitude Control for Multiple UAVs

  • 期刊论文

  • 发表日期：

    2025年6月20日

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  • Muxuan Li,
  • Huanqing Wang

摘要

For multiple six-rotor unmanned aerial vehicles (UAVs) with input saturation, this essay looks into the issue of adaptive attitude control based on predefined-time disturbance estimator (PTDE) under directed communication network. The multiple six-rotor UAVs considered are regarded as nonlinear multi-agent systems (MASs). To address the impact of input saturation, a smooth function and the mean-value theorem are used. Via the backstepping recursive algorithm, an effective adaptive control method is proffered by combining fuzzy logic system (FLS) and predefined-time theory. Unlike some existing control schemes for multi-UAVs, the developed control scheme allows one to shun the chattering phenomenon. Additionally, the developed controller assures that the consensus tracking errors converge to a small neighborhood of the origin within an expected settling time and all signals of the multiple six-rotor UAV attitude systems are bounded. Eventually, by means of simulation results, the effectiveness of the suggested control scheme was illustrated.