Adaptive Control of Nonlinear Systems
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Abstract
Abstract
This paper investigates the trajectory-tracking control problem of quadrotor unmanned aerial vehicles (UAVs) subject to unknown external disturbances. A nonsingular fixed-time sliding mode control scheme integrated with an adaptive predefined-time disturbance observer is proposed to achieve fast and robust tracking performance. The proposed observer enables accurate disturbance estimation within a predefined time without requiring prior knowledge of disturbance bounds, while a novel nonsingular fixed-time sliding surface guarantees convergence with an explicit time bound independent of initial conditions and avoids singularity issues. By combining disturbance compensation with the nonsingular sliding surface, a fixed-time sliding mode controller is developed to ensure high-precision trajectory-tracking and smooth control performance. Simulation results demonstrate that the proposed method achieves fast fixed-time convergence, strong robustness against disturbances, and reduced chattering, highlighting its effectiveness for practical quadrotor UAV applications.
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@article{Zhai2026Nonsingular,
title = {Nonsingular fixed-time sliding mode control of quadrotor UAV with disturbance estimation via adaptive predefined-time observer},
author = {Yunhao Zhai and Jiwei Gao and Shaofei Zang and Jianwei Ma and Jinfeng Lv and Hao Yuan},
journal = {Transactions of the Institute of Measurement and Control},
year = {2026},
doi = {10.1177/01423312261454412},
url = {https://doi.org/10.1177/01423312261454412}
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