Prescribed Performance Evolution Control for VTOL UAVs Tracking a Moving Ship

An output constrained control method for the vertical take-off and landing (VTOL) unmanned aerial vehicles (DAVs) tracking a moving ship is proposed in this paper. The evolution path theory is introduced to narrow down the convergence region of the prescribed performance control (PPC) to obtain better dynamic performance. In addition, the fixed-time observer is adopted to deal with the external disturbance and actuator failure, and the fixed-time filter is used as reference model. The stability of the proposed method is verified by the Lyapunov function, and the comparative simulation has exhibited its superiority.