This paper develops a robust safety tracking control framework for unmanned aerial helicopter (UAH) systems subject to output constraints, input saturation, and external disturbances. To achieve this objective, a prescribed-time disturbance observer (PTDO) is first designed to estimate and compensate for unknown distur...
A cooperative integrated guidance and control (CIGC) scheme is proposed for multiple- skid-to-turn (STT) vehicles subject to terminal angle constraints and actuator faults. Following the principle of “single-vehicle design first, cooperative extension afterward”, the proposed method integrates prescribed-time sliding m...
This paper investigates the attitude trajectory tracking problem of fixed-wing unmanned aerial vehicles (UAVs) subject to time-varying full-state constraints and unknown disturbances. To address the strong nonlinear coupling and aerodynamic uncertainties inherent in fixed-wing UAV dynamics, a robust control framework t...
This article investigates the trajectory tracking and load swing suppression problem of a quadrotor slung load system under cable elasticity and actuator faults, with predefined-time prescribed performance guarantees. The cable is modeled as a spring–damper system to establish an enhanced dynamic model, and the overall...
A robust control framework integrating the integral sliding mode controller (ISMC) with a momentum-based estimator (MBE) to ensure accurate trajectory tracking under uncertainty and maintains stability under up to 50% mass uncertainty is proposed.
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