Trajectory tracking control of UAV based on non-singular fixed-time terminal sliding mode

A improved non-singular fixed-time terminal sliding mode controller (INFTSMC) is proposed in this paper to speed up the response during UAV trajectory tracking. Based on a kind of fixed-time convergence system with variable parameters and shorter convergence time, a new sliding mode surface and INFTSMC are designed to drive the system’s state converge in a fixed time, and the settling time’s upper bound is better than the existing results. Simultaneously, a switching saturation function is used in the controller to avoid singularity. The Lyapunov stability theory proves that the designed controller can realize the stable tracking of the UAV. The simulation results verify the performance of the INFTSMC given in this paper.