Predefined-Time Trajectory Tracking Control of UAV with Multi-Source Disturbance

In this paper, a predefined-time non-singular terminal sliding mode controller is proposed to control the trajectory of quadrotor unmanned aerial vehicles. In the position loop, the nonlinear disturbance observer compensates for the disturbance, and the sliding surface is designed for position tracking control. In the attitude loop, a non-singular terminal sliding mode controller with a predefined time is designed. The law of approximation is used to stabilize the attitude tracking error within predefined time. Through theoretical analysis and experiments, the performance of the controller is verified.