Robust H∞-based prescribed time attitude tracking control of quadrotor UAVs

A novel robust H-infinity prescribed time controller is constructed based on the backstepping method, and it is applied to the attitude tracking problem of quadrotor UAVs with disturbances for the first time. The proposed controller integrates Lyapunov stability theory, prescribed time control, robust H-infinity control and backstepping method, and it not only ensures that the attitude errors of the system converge to zero at given time, but also has H-infinity performance against external disturbances. In addition, compared with the traditional finite-time and fixed-time, another significant advantage of the proposed controller is that its convergence time does not depend on the initial conditions and any design parameters of the system. A rigorous proof of the prescribed time stability of the quadrotor system is derived, and the simulation results further demonstrate the effectiveness and superiority of the proposed method.