摘要：AbstractA prospective issue that the finite-time reliable trajectory tracking control (TTC) scheme for a fixed-wing unmanned aerial vehicle (UAV) with error constraint is considered in this paper. The outer-loop position dynamics is formulated as a quadratic integral system. By utilizing a finite-time command filter to deal with the computational explosion in backstepping control architecture, a finite-time super-twisting sliding-mode disturbance observer (SMDO) is proposed to estimate the uncertain external disturbances. In addition, a barrier Lyapunov function (BLF) is used to constrain the trajectory tracking error and verify the finite-time stability of the reliable TTC scheme. Eventually, the effectiveness is given by simulation results
关键词：KeywordsFixed-wing UAVtrajectory tracking error (TTC)error constraintfinite-time reliable controlbackstepping control
