TY - GEN
T1 - Fixed-Time Sliding-Mode Control for Quadrotor Attitude Tracking With Prescribed Performance
AU - Liu, Mingwei
AU - Wang, Qing
AU - Cheng, Junzhe
AU - Xin, Bin
N1 - Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2026.
PY - 2026
Y1 - 2026
N2 - 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.
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.
KW - prescribed performance
KW - Quadrotor
KW - sliding mode control
UR - https://www.scopus.com/pages/publications/105045576965
U2 - 10.1007/978-981-95-6739-3_12
DO - 10.1007/978-981-95-6739-3_12
M3 - Conference contribution
AN - SCOPUS:105045576965
SN - 9789819567386
T3 - Communications in Computer and Information Science
SP - 167
EP - 178
BT - Advanced Computational Intelligence and Intelligent Informatics - 9th International Workshop, IWACIII 2025, Proceedings
A2 - Ma, Hongbin
A2 - Xin, Bin
A2 - She, Jinhua
A2 - Lu, Guiping
PB - Springer Science and Business Media Deutschland GmbH
T2 - 9th International Workshop on Advanced Computational Intelligence and Intelligent Informatics, IWACIII 2025
Y2 - 31 October 2025 through 4 November 2025
ER -