Finite-time Observer Based Predefined-time Aircraft Attitude Tracking Control

This paper investigates the attitude tracking issue of the fixed-wing unmanned aerial vehicle (UAV) with model uncertainty and external disturbance using contemporary predefined-time stability theory and disturbance observer. Firstly, by using a time-varying tuning function with the expected settling time, composite state tracking errors are introduced to the design process of dynamic surface control, which is named dynamic surface based predefined time control (DSPTC). Then, the lumped disturbances are estimated by finite time extended states observer (FTESO). It is proved that all of signals in the aircraft attitude system are globally uniformly ultimately bounded. Finally, a set of simulations is implemented to validate the availability of the proposed controller.