Fixed-Time Terminal Sliding Mode Control for Quadrotor Aircraft

The fixed-time trajectory tracking problem of a quadrotor with six degrees of freedom (6-DOF) under bounded disturbances is investigated in this paper. The split-loop design method which divides the quadrotor into position subsystem and attitude subsystem is adopted. Next, the nonsingular fixed-time controllers are developed and both the inner and outer loop can track the expected trajectory within fixed-time. The settling time depends only on the selected control parameters and is independent of the system's initial state. The stability of the entire system is proved. Finally, the simulation studies based on the quadrotor model illustrate the robustness of the designed fixed-time controller.