A Novel Prescribed Finite-Time Attitude Tracking Control of Quadrotor UAVs

This paper presents a novel attitude tracking control strategy for quadrotor Unmanned Aerial Vehicles (UAVs) based on the backstepping technique, which achieves prescribed finitetime stability. The main contribution lies in the development of a controller that integrates Lyapunov stability theory, prescribed finite-time control and backstepping methodologies to ensure rapid and precise convergence of attitude errors to zero within a predefined time. Unlike traditional finite-time and fixed-time control approaches, the proposed controller exhibits a significant advantage by possessing a convergence time independent of initial conditions and design parameters, which greatly improves the control accuracy. The efficacy of the proposed control scheme is rigorously proven through mathematical analysis, demonstrating the prescribed finite-time stability of the quadrotor system. Simulation results further validate the superior performance of the controller, highlighting its potential to enhance the operational efficiency and safety of quadrotor UAVs.