Saturated RISE-based Control Design for Fixed-Wing UAV

This study presents a saturated RISE-based backstepping control strategy for the attitude control of fixed-wing UAVs with input constraints. Unlike existing approaches in the literature, a simple and easily implementable saturation method is developed, which can also be integrated with different control strategies. The proposed saturation scheme is combined with a RISE-based backstepping framework, resulting in a robust structure against model and parameter uncertainties. The stability of the developed scheme is analyzed using Lyapunov's method, guaranteeing boundedness of all system states and convergence of the output error to zero. The performance of the proposed method is validated through simulation studies, which demonstrate its effectiveness.