A fixed time robust control method is presented for trajectory tracking control of quadrotor systems with motor dynamics in the presence of unmodeled disturbances and external disturbances. The recommended control method avoids the negative effect to the quadrotor system caused by motor dynamic which is considered as first-order dynamic with dynamic disturbance. And fixed time extended state observer is adopted to estimate the composite disturbances and obtain the first and second derivative of desired trajectory and virtual control. Together with fixed time convergence control method, the stability and convergence characteristics of quadrotor system can be guaranteed. Finally, several simulations prove the effectiveness of the novel method with different time constants of motor dynamics.

中文翻译：

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具有电机动力学和复合扰动的四旋翼无人机鲁棒固定时间控制器

提出了一种固定时间鲁棒控制方法，用于在存在未建模干扰和外部干扰的情况下具有电机动力学的四旋翼飞行器系统的轨迹跟踪控制。推荐的控制方法避免了电机动态对四旋翼系统的负面影响，电机动态被认为是具有动态扰动的一阶动态。并采用固定时间扩展状态观测器对复合扰动进行估计，得到期望轨迹和虚拟控制的一阶和二阶导数。结合固定时间收敛控制方法，可以保证四旋翼系统的稳定性和收敛特性。最后，几个模拟证明了具有不同电机动力学时间常数的新方法的有效性。