Abstract
To enhance the trajectory tracking response speed of police quadcopter drones and simplify engineering implementation, this paper proposes a fixed-time attitude tracking control strategy based on the backstepping integration method. The approach integrates fixed-time control theory to achieve rapid and effective tracking of the aircraft's position and attitude within a predefined time, ensuring the stability of the quadcopter flight controller. Additionally, the aircraft model characteristics are analyzed, and an integral term is incorporated into the backstepping-based attitude fixed-time control design. By selecting appropriate constants for the integral term, the control law is simplified, improving the practicality of the control algorithm. Compared to PID controller, the proposed method reduces the error in the x-direction by 50\% and in the y-direction by 80\%. When compared to sliding mode controller, the x-direction error is reduced by 2\%, and the y-direction error decreases by 60\%. The yaw angle error under the proposed controller is nearly zero. Furthermore, compared to the backstepping controller without the integral term, the proposed controller reduces the computational time per step by 51.6\%. Simulation results demonstrate that the proposed controller achieves faster and more stable trajectory tracking compared to both PID and sliding mode controllers.
DOI: 10.61416/ceai.v27i2.9435