Dual-Compensators-Based Fixed-Time Control Strategy for Quadrotor UAV with Gust Disturbances

To tackle the tracking control problem of Quadrotor unmanned aerial vehicles (UAVs), this paper proposes a dual-compensators-based fixed-time control strategy. Firstly, the model of quadrotor UAV is established under the conditions of strong gust disturbances, actuator failures, and saturation. Subsequently, a finite-time convergent nonlinear extended observer is designed specifically for strong gust disturbances. Then, a fixed-time control strategy with an inner-outer loop structure and second-