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Abstract

： Received 21 July 2023 Accepted 28 August 2023 Available online 30 August 2023 In this article, a predefined-time sliding mode control strategy is proposed for the attitude control of quadrotor aircraft. Firstly, a sliding mode surface has been presented based on double power approximation rate. Secondly, combining the predefined convergence principle, a predefined sliding mode controller is designed, which ensures that the tracking error of attitude angle and attitude angular velocity can converge within a pre-determined specified time. Next, the stability of the quadrotor system is analyzed using the Lyapunov theorem. Finally, the effectiveness of the proposed method is verified through simulation.