Fixed-Time Sliding-Mode Control for Quadrotor Attitude Tracking With Prescribed Performance

Mingwei Liu; Qing Wang; Junzhe Cheng; Bin Xin

doi:10.1007/978-981-95-6739-3_12

Fixed-Time Sliding-Mode Control for Quadrotor Attitude Tracking With Prescribed Performance

Mingwei Liu
, Qing Wang^*
, Junzhe Cheng
, Bin Xin

^*Corresponding author for this work

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper proposes a fixed-time sliding mode attitude controller for quadrotor UAVs with prescribed performance constraints. The controller guarantees that tracking errors evolve within predefined, time-varying bounds and converge to zero in fixed time, independent of initial conditions. A performance function is used to impose transient and steady-state constraints, and an error transformation maps the constrained dynamics into an unconstrained space. A nonsingular sliding surface and control law are designed to ensure global fixed-time stability. Lyapunov analysis confirms the theoretical properties. Simulation results verify that the proposed method achieves accurate tracking while strictly satisfying performance bounds, demonstrating its effectiveness for constrained attitude control.

Original language	English
Title of host publication	Advanced Computational Intelligence and Intelligent Informatics - 9th International Workshop, IWACIII 2025, Proceedings
Editors	Hongbin Ma, Bin Xin, Jinhua She, Guiping Lu
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	167-178
Number of pages	12
ISBN (Print)	9789819567386
DOIs	https://doi.org/10.1007/978-981-95-6739-3_12
Publication status	Published - 2026
Externally published	Yes
Event	9th International Workshop on Advanced Computational Intelligence and Intelligent Informatics, IWACIII 2025 - Zhuhai, China Duration: 31 Oct 2025 → 4 Nov 2025

Publication series

Name	Communications in Computer and Information Science
Volume	2783 CCIS
ISSN (Print)	1865-0929
ISSN (Electronic)	1865-0937

Conference

Conference	9th International Workshop on Advanced Computational Intelligence and Intelligent Informatics, IWACIII 2025
Country/Territory	China
City	Zhuhai
Period	31/10/25 → 4/11/25

Keywords

prescribed performance
Quadrotor
sliding mode control

Access to Document

10.1007/978-981-95-6739-3_12

Cite this

Liu, M., Wang, Q., Cheng, J., & Xin, B. (2026). Fixed-Time Sliding-Mode Control for Quadrotor Attitude Tracking With Prescribed Performance. In H. Ma, B. Xin, J. She, & G. Lu (Eds.), Advanced Computational Intelligence and Intelligent Informatics - 9th International Workshop, IWACIII 2025, Proceedings (pp. 167-178). (Communications in Computer and Information Science; Vol. 2783 CCIS). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-95-6739-3_12

Liu, Mingwei ; Wang, Qing ; Cheng, Junzhe et al. / Fixed-Time Sliding-Mode Control for Quadrotor Attitude Tracking With Prescribed Performance. Advanced Computational Intelligence and Intelligent Informatics - 9th International Workshop, IWACIII 2025, Proceedings. editor / Hongbin Ma ; Bin Xin ; Jinhua She ; Guiping Lu. Springer Science and Business Media Deutschland GmbH, 2026. pp. 167-178 (Communications in Computer and Information Science).

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title = "Fixed-Time Sliding-Mode Control for Quadrotor Attitude Tracking With Prescribed Performance",

abstract = "This paper proposes a fixed-time sliding mode attitude controller for quadrotor UAVs with prescribed performance constraints. The controller guarantees that tracking errors evolve within predefined, time-varying bounds and converge to zero in fixed time, independent of initial conditions. A performance function is used to impose transient and steady-state constraints, and an error transformation maps the constrained dynamics into an unconstrained space. A nonsingular sliding surface and control law are designed to ensure global fixed-time stability. Lyapunov analysis confirms the theoretical properties. Simulation results verify that the proposed method achieves accurate tracking while strictly satisfying performance bounds, demonstrating its effectiveness for constrained attitude control.",

keywords = "prescribed performance, Quadrotor, sliding mode control",

author = "Mingwei Liu and Qing Wang and Junzhe Cheng and Bin Xin",

note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2026.; 9th International Workshop on Advanced Computational Intelligence and Intelligent Informatics, IWACIII 2025 ; Conference date: 31-10-2025 Through 04-11-2025",

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series = "Communications in Computer and Information Science",

publisher = "Springer Science and Business Media Deutschland GmbH",

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Liu, M, Wang, Q, Cheng, J & Xin, B 2026, Fixed-Time Sliding-Mode Control for Quadrotor Attitude Tracking With Prescribed Performance. in H Ma, B Xin, J She & G Lu (eds), Advanced Computational Intelligence and Intelligent Informatics - 9th International Workshop, IWACIII 2025, Proceedings. Communications in Computer and Information Science, vol. 2783 CCIS, Springer Science and Business Media Deutschland GmbH, pp. 167-178, 9th International Workshop on Advanced Computational Intelligence and Intelligent Informatics, IWACIII 2025, Zhuhai, China, 31/10/25. https://doi.org/10.1007/978-981-95-6739-3_12

Fixed-Time Sliding-Mode Control for Quadrotor Attitude Tracking With Prescribed Performance. / Liu, Mingwei; Wang, Qing; Cheng, Junzhe et al.
Advanced Computational Intelligence and Intelligent Informatics - 9th International Workshop, IWACIII 2025, Proceedings. ed. / Hongbin Ma; Bin Xin; Jinhua She; Guiping Lu. Springer Science and Business Media Deutschland GmbH, 2026. p. 167-178 (Communications in Computer and Information Science; Vol. 2783 CCIS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - This paper proposes a fixed-time sliding mode attitude controller for quadrotor UAVs with prescribed performance constraints. The controller guarantees that tracking errors evolve within predefined, time-varying bounds and converge to zero in fixed time, independent of initial conditions. A performance function is used to impose transient and steady-state constraints, and an error transformation maps the constrained dynamics into an unconstrained space. A nonsingular sliding surface and control law are designed to ensure global fixed-time stability. Lyapunov analysis confirms the theoretical properties. Simulation results verify that the proposed method achieves accurate tracking while strictly satisfying performance bounds, demonstrating its effectiveness for constrained attitude control.

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Liu M, Wang Q, Cheng J, Xin B. Fixed-Time Sliding-Mode Control for Quadrotor Attitude Tracking With Prescribed Performance. In Ma H, Xin B, She J, Lu G, editors, Advanced Computational Intelligence and Intelligent Informatics - 9th International Workshop, IWACIII 2025, Proceedings. Springer Science and Business Media Deutschland GmbH. 2026. p. 167-178. (Communications in Computer and Information Science). doi: 10.1007/978-981-95-6739-3_12