Abstract
This article explores a nonlinear adaptive estimator-based prescribed performance control method to address the position and attitude trajectory tracking challenges of perturbed quadcopter systems. Integrating adaptive techniques and filtering operations, the method develops nonlinear perturbation estimators to ensure the asymptotic estimation of perturbations. Moreover, a prescribed performance control strategy is devised using estimation information to contain position and attitude tracking errors within predefined bounds under the influence of persistent time-varying perturbations. Using Lyapunov stability theory, the finite-time bounded and asymptotic stability of tracking errors of quadcopter position and attitude subsystems are established with prescribed performance. Following that, simulations are performed to verify the efficiency of the proposed control method.
