An Efficient Fixed-Time Filter for Backstepping Attitude Control of Quadcopter

Quadcopter unmanned aerial vehicles have been increasingly popular in numerous real-world applications due to their efficiency and maneuverability. In order to ensure safe and stable operations, drone stabilization control requires quick responses from the controller. In this paper, an efficient fixed-time filter (EFTF) for backstepping attitude control of quadcopters is proposed. First, in order to avoid the feasibility conditions, state transformations are used to solve the full-state constraints problem. Second, EFTF is introduced to eliminate the complexity explosion of the backstepping approach as well as guarantee fixed-time stability. Then, the stability of the closed-loop attitude controller is proven by the Lyapunov theory. Finally, numerical simulations were conducted to evaluate the effectiveness of the proposed algorithm for convergent output errors around zero in a fixed time interval.