Prescribed Performance-based Pipe Flying Control for Quadrotor Unmanned Aerial Vehicles

In this paper, subject to pipe constraints and unknown time-varying external disturbance, a prescribed performance control scheme combined with reference governor is proposed for the Quadrotor UAV system. Taking into account the pipe constraints in flight of the QUAV, a reference governor is developed based on model predictive control. A disturbance observer is employed to gauge the unknown external disturbance, and following this, a prescribed performance control scheme is established to follow the reference trajectory. By employing the Lyapunov stability theory, the stability of the complete closed-loop system is confirmed, guaranteeing the convergence of all signals within the closed-loop. Following this, numerical simulation outcomes are demonstrated to highlight the effectiveness of these control design methodologies.