Dual-Compensators-Based Fixed-Time Control Strategy for Quadrotor UAV with Gust Disturbances

To tackle the tracking control problem of Quadrotor unmanned aerial vehicles (UAVs), this paper proposes a dual-compensators-based fixed-time control strategy. Firstly, the model of quadrotor UAV is established under the conditions of strong gust disturbances, actuator failures, and saturation. Subsequently, a finite-time convergent nonlinear extended observer is designed specifically for strong gust disturbances. Then, a fixed-time control strategy with an inner-outer loop structure and second-order reaching law for altitude subsystem is employed to design the controller. Meanwhile, a fault sliding mode compensator and a hyperbolic function-based saturation compensator are proposed respectively to compensate for the associated faults induced by actuator failures and saturation. Finally, the effectiveness of the proposed scheme is validated through comparative numerical simulations and hardware-in-the-loop (HIL) co-simulations under complex flight scenarios.