Arbitrary Fixed-Time Sliding Mode Control for Quadrotor Trajectory Tracking under Disturbances
14th International Conference on Renewable Energy Research and Applications, ICRERA 2025, Vienna, Avusturya, 27 - 30 Ekim 2025, ss.1970-1977, (Tam Metin Bildiri)
- Yayın Türü: Bildiri / Tam Metin Bildiri
- Doi Numarası: 10.1109/icrera66237.2025.11283948
- Basıldığı Şehir: Vienna
- Basıldığı Ülke: Avusturya
- Sayfa Sayıları: ss.1970-1977
- Anahtar Kelimeler: arbitrary fixed-time, quadrotor, sliding mode control, UAV
- Gazi Üniversitesi Adresli: Evet
Özet
In this paper, the arbitrary fixed-time sliding mode control (AFxSMC) strategy is investigated for a quadrotor subjected to external disturbances. To enhance reference tracking performance, an effective double closed-loop control structure consisting of inner and outer loops is proposed. The proposed sliding surface technique stabilizes the system states in a predetermined time. This stabilization is achieved, regardless of the initial system position, through the principle of arbitrary fixedtime stabilization. The validity and applicability of the proposed method are verified through quadrotor simulations. We compare the performances of different methods in the simulation studies to analyze the effectiveness of the controller. The obtained results demonstrate that the proposed method provides higher robustness and improved tracking performance compared to existing approaches.