Prescribed Time Performance Security Tracking Control of Quadrotors Under Unknown Attacks

This paper investigates the prescribed time performance security tracking control problem of quadrotors under unknown attacks. First, by using a prescribed time performance function and coordinate transformation, the tracking error can remain within a given region in a prescribed time. In the backstepping design process, a first-order sliding mode differentiator is given to surmount the problem of “the explosion of complexity”, and the Nussbaum function is developed to deal with the unknown attacks problem. A prescribed time performance security attitude tracking control method is designed to prove the boundedness of the closed-loop signals. Finally, the simulation results are enumerated to state the superiority and effectiveness of the designed control method.