A Novel Fixed-Time Sliding Mode Control of Quadrotor With Experiments and Comparisons

Abstract

In this letter, a practical fixed-time sliding mode controller is designed for quadrotors. A novel fixed-time stable system is derived, which has a faster convergence rate than existing methods. The proof of the fixed-time convergence is presented. Meanwhile, the faster convergence rate compared with the other two methods is detailed using simulations. Based on this derivation, a fixed-time sliding mode controller with bounded convergence time independent of initial conditions is developed. The comparative simulation and flight experiment results are presented, showing that the proposed control scheme is practical to an actual quadrotor and can achieve good control performance.