Malleable Prescribed Performance Tracking Control Under Predefined Time for Tilt-Rotor Quadrotor UAV With Input Saturation

H-configuration tilt-rotor quadrotor unmanned aerial vehicle (HTRQUAV) has more forward momentum with H-configuration fuselage and tiltable longitudinal rotors, which contributes to speed of movement. This paper establishes the predefined-time robust control scheme for the tracking control of both position and attitude of HTRQUAV with input saturation and uncertainties simultaneously. To ensure predefined time robustness and stability, a position controller is designed by a novel sliding manifold. To improve the performances of attitude subsystem, a predefined-time prescribed-performance controller with a radial basis function neural network (RBFNN) is developed. By predefined-time prescribed performance boundaries, the convergence time and performances can be tuned in advance. Lyapunov analysis verifies predefined-time stable of closed-loop system. Simulation results demonstrate the effectiveness and superiority of the proposed controllers.