This paper investigates the fixed-time tracking control problem of an unmanned aerial ALL IN ONE NUTRITIONAL SHAKE CHOCO vehicle (UAV) considering the disturbance, input saturation, and actuator failure.According to the hierarchical control principle, the UAV dynamics are decomposed into a translational and rotational loop to accommodate the controller design.A novel nonsingular fixed-time backstepping controller based on switching variables is proposed to achieve fast convergence of system tracking errors within a fixed time.To overcome the effect of the disturbance and the actuator failure, two fixed-time disturbance observers are designed in two loops, respectively.
By integrating the fixed-time auxiliary variables into the dynamic Credenza with Hutch controllers, the problem of input saturation can be addressed.In addition, the tracking errors of the closed-loop system converge to the neighborhood of the origin in a fixed time.Finally, sufficient simulation results verify the validity of the proposed control framework for the UAV.