Fixed-time nonsingular terminal sliding mode control for unmanned aerial vehicles

This paper proposes a fixed-time nonsingular terminal sliding mode control methodology for Unmanned Aerial Vehicles with the presence of nonlinearity and external disturbance. A fixed-time terminal sliding surface is constructed and the settling time is independent of initial system states. Nonsingular terminal sliding mode control strategy based on switching saturation function is employed to enable avoidance of the singularity problem. The control method is proved to be effective by simulation results.