67 / 2025-03-30 14:02:29

Prescribed Performance Fault-Tolerant Tracking Control of Firefighting Tethered Quadrotor UAV

Firefighting tethered quadrotor unmanned aerial vehicle (FTQUAV), fault tolerant tracking control, fixed time prescribed performance

In this paper, the prescribed performance fault-tolerant tracking control problem is investigated for a firefighting tethered quadrotor unmanned aerial vehicle (FTQUAV) with input saturation and actuator failure. First, the dynamics of a FTQUAV with failure, disturbance and uncertainty is built. Second, the double loop control structure is introduced. Third, a novel sliding mode tracking controller is designed to eliminate the adverse effect of the actuator fault and multi-source disturbance, which is combined with the fixed time prescribed performance (FTPP) developed to improve the tracking control performance. Finally, simulation results of a FTQUAV is given to verify the effectiveness of this scheme.