abstract
- This paper addresses an experimental evaluation of a fixed-time convergent differentiator-based feedback controller for a fully actuated hexacopter. The differentiator can retrieve enough smooth full states from partial state measurement, in this case, the velocity of the rotorcraft in a fixed time, independent of initial conditions. Then, a feedback controller based on the full state estimations is designed for the trajectory tracking task. Lyapunov's methodology for the closed-loop stability of the differentiator-based controller is given. The performance of the proposed control scheme is demonstrated with real flight experiments implemented in a customized fully actuated hexacopter, showing the feasibility of estimating unmeasurable states and trajectory tracking.