Predefined-time Backstepping Sliding Mode Control for Tilt-rotor Quadcopter UAV

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Tilt-rotor quadcopter UAV (TRQUAV) has more forward momentum with H-configuration fuselage and tiltable longitudinal rotors. A predefined-time backstepping sliding mode controller (PTBSMC) is designed to address the rapid tracking of the position and attitude of TRQUAV. Firstly, this paper establishes the dynamics model of TRQUAV through the Newton-Euler equations. Then, a position predefined-time sliding mode controller is proposed to meet the requirement of fast position tracking and feed the desired roll value of attitude. Moreover, an attitude PTBSMC is proposed to improve the attitude error tracking speed. By the predefined-time exponential reaching law, the error of position and attitude will converge to the vicinity of zero within the predefined time. The PTBSMC’s stability is proven by Lyapunov theory, and simulation results demonstrate the effectiveness and superiority of the faster convergence of the proposed controller.