Adaptive Fuzzy Sliding-Mode Fixed-Time Control for Quadrotor Unmanned Aerial Vehicles With Prescribed Performance

In this article, an adaptive fuzzy fixed-time slidingmode formation control scheme with prescribed performance is proposed for quadrotor unmanned aerial vehicles under uncertainties and external disturbances. First of all, for the position subsystem and attitude subsystem, in order to achieve the formation goal, the desired position and attitude of UAVs are generated by adaptive control method based on their neighbors' information. Second, a nonsingular fixed-time sliding mode manifold incorporating with the prescribed performance function is put forward to achieve the predefined convergence performance, which has a faster convergence rate than the traditional counterpart and reduce the chattering phenomenon in the traditional counterpart. Then, in the design of the controller, adaptive fuzzy approximation characteristics are utilized to handle unknown terms, and Lyapunov stability theory is used to analyze the fixed time stability of the closed-loop system. Finally, the performance of proposed algorithms is demonstrated by simulation results.