Fixed-time Sliding Mode Observer for Quadrotor Attitude Estimation Using IMU Measurements

This study focuses on estimating the pitch and roll angles of a quadcopter using exclusively IMU sensor data. A fixed-time super-twisted sliding mode control algorithm is designed, which precisely estimates these angles by incorporating exponential power terms and a super-twisted algorithm function into the sliding variable. Furthermore, its performance is analyzed by comparing it with that of a smooth mode observer. Additionally, this research investigates the performance of the observer under the influence of sensor bias and noise. The effectiveness and superiority of the proposed method are demonstrated through simulation experiments conducted on a nonlinear model of a quadrotor.