| Citation: | LIU H，HUANG S，TU H Y. Quadrotor sliding mode control based on predefined time[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（5）：1665-1674 （in Chinese） doi: 10.13700/j.bh.1001-5965.2022.0481
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To address the control problem of the position loop and attitude loop of the quadrotor, so that the position and attitude of the quadrotor can be stable in the predetermined time, a position and attitude controller based on the predefined time sliding mode control algorithm is proposed. By controlling the position loop and attitude loop of the four rotors, the position and attitude of the quadrotor can be stabilized within a predetermined time. The proposed algorithm is proved by theoretical derivation and numerical simulation. The simulation results show that the position and attitude of the quadrotor with the proposed controller can achieve stability in the predetermined time.
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