Unmanned helicopter fixed time trajectory tracking switching control method

The invention belongs to the technical field of unmanned aerial vehicle control, and particularly relates to an unmanned helicopter fixed time trajectory tracking switching control method which comprises the following steps: establishing an unmanned helicopter system model, and considering external interference influence; based on a switching boundary protection algorithm, obtaining a safety expected tracking trajectory of the unmanned helicopter under real-time track constraint, and generating a controller switching rule; establishing a fixed time fuzzy interference observer, and estimating composite interference in the system; designing a position loop fixed time switching backstepping control scheme; designing an attitude ring fixed time switching backstepping control scheme; according to the method, a controller switching rule is obtained according to a switching boundary protection algorithm, and a switching controller is designed, so that the unmanned helicopter has expected fixed time tracking performa