Fixed-Time Practical Antisaturation Attitude Tracking Control of QUAV With Prescribed Performance: Theory and Experiments
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Bibliographic record
Abstract
This paper investigates the fixed-time attitude tracking control problem for quadrotor unmanned aerial vehicle by considering actuator saturation and prescribed performance constraint. First, hyperbolic tangent function is used to deal with actuator saturation. Furthermore, by analyzing the relationship between the tracking error and the transient performance constraints, the prescribed performance function is designed to constrain the transient performance of tracking error. Then, a fixed-time tracking controller is addressed by the backstepping method and fuzzy logic systems, where it does not need the prior precise information of systems model. Theoretically, the stability of the closed-loop system is validated by Lyapunov stability theory. Finally, the hardware-in-the-loop test results validate the effectiveness of the proposed method.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it