Considering the problem of tracking control for a quadrotor unmanned aerial vehicle (QUAV) with input saturation, parameter uncertainties and external disturbances, command filtered backstepping-based fixed-time adaptive scheme was developed. The “explosion complexity” (EOC) is tackled by utilizing filter, influence error removed based on fractional power-error-compensation mechanism. A auxilia...

In this paper, an adaptive incremental neural network (INN) fixed-time tracking control scheme based on composite learning is investigated for robot systems under input saturation. Firstly, by integrating the method into INN to cope with inevitable dynamic uncertainty, a novel updating law of NN weights designed, which does not need satisfy stringent persistent excitation (PE) conditions. addit...

Abstract This paper proposes an adaptive control method for underactuated complex nonlinear system, that is, unmanned aerial vehicle (UAV), to realize high‐precision trajectory tracking under input saturation constraint and other disturbances via artificial neural network anti‐saturation auxiliary system. First, the rigid body motion theory is applied establish a simplified dynamic model of UAV...