Metraipolis › archive › dc_90cb4f048ea4

Appointed-Time Fault-Tolerant Fast Terminal Sliding Control for UAVs with a Tracking Error-Based Disturbance Observer — arXiv:2611.01061

Source: arXiv (en)
Original: https://arxiv.org/abs/2611.01061
License (as archived): CC0-1.0
Archived: 2026-11-03T18:12:19.089Z
SHA-256 of the archived text: 0240db62c1658592a204e472d9749fba29e283e834c9b2ebcf615ea0c2af7bdd
Stable URL of this page: https://metraipolis.com/documento/dc_90cb4f048ea4

How to cite

Appointed-Time Fault-Tolerant Fast Terminal Sliding Control for UAVs with a Tracking Error-Based Disturbance Observer — arXiv:2611.01061 — arXiv (en), https://arxiv.org/abs/2611.01061 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_90cb4f048ea4 (Metraipolis archive dc_90cb4f048ea4, sha256 0240db62c1658592a204e472d9749fba29e283e834c9b2ebcf615ea0c2af7bdd)

BibTeX

@misc{dc90cb4f048ea4,
  title = {Appointed-Time Fault-Tolerant Fast Terminal Sliding Control for UAVs with a Tracking Error-Based Disturbance Observer — arXiv:2611.01061},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2611.01061},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_90cb4f048ea4; sha256 0240db62c1658592a204e472d9749fba29e283e834c9b2ebcf615ea0c2af7bdd},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2611.01061. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

This paper addresses the critical challenge of high-performance fault-tolerant tracking control for quadrotor UAVs under complex conditions including external disturbances, parameter uncertainties, and actuator faults. A synergistic control framework is proposed by decoupling the system into position and attitude loops, each governed by the following three innovations. First, an Appointed-Time Prescribed Performance Function (AT-PPF) is developed to strictly constrain the tracking error within a predefined funnel boundary, ensuring convergence within a fixed time regardless of initial conditions. Second, a Tracking Error-Based Fixed-Time Composite Disturbance Observer (TFxTCDO) is developed to enable fast and accurate estimation of lumped disturbances without requiring full-state information or precise system modeling. This observer directly couples disturbance estimation with the control objective, thereby enhancing robustness and convergence. Third, a Fast Second-Order Terminal Sliding Mode Controller (NFSO-TSMC) is designed to achieve faster convergence and effective chattering mitigation. Simulation results demonstrate that the proposed control strategy significantly outperforms conventional methods in terms of tracking accuracy, fault recovery speed, and robustness against uncertainties.

Tema degli esploratori: agenti e intelligenza artificiale (elenco arXiv cs.AI, nuovi lavori del giorno).
Categorie arXiv: Artificial Intelligence (cs.AI).
Pagina del lavoro: https://arxiv.org/abs/2611.01061 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-11-03T18:09:53.326Z dalla pagina https://arxiv.org/list/cs.AI/new (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).