Predictor-based constrained fixed-time sliding mode control of multi-UAV formation flight

Maria Khodaverdian, Shahram Hajshirmohamadi, Aleksandr Hakobyan, Salman Ijaz

Research output: Journal PublicationArticlepeer-review


In this work, a predictor-based fixed-time sliding mode control is designed to tackle the problem of achieving precise trajectory tracking control of multiple unmanned aerial vehicle formation flight. The proposed approach simultaneously addresses various practical requirements, such as optimality, constraints, fixed-time convergence, external interferences, and computational burden. Initially, using the Taylor series concept, we derive the predictive models for the fixed-time sliding surface and reaching law. Subsequently, we formulate a constrained performance index by integrating these predictions with the control input. Ultimately, the optimal control input is computed through solving the constrained quadratic optimization problem. An outstanding feature of this study is the theoretical guarantee of closed-loop fixed-time system stability in the presence of external disturbances and constraints. Furthermore, the comparative analysis with sliding mode predictive control law and fixed-time sliding mode control methods demonstrates that the proposed approach achieves a straightforward control method with improved performance and acceptable accuracy. Finally, an experimental test is conducted to demonstrate the algorithm's potential for hardware implementation by employing the Hardware-in-the-Loop test.

Original languageEnglish
Article number109113
JournalAerospace Science and Technology
Publication statusPublished - May 2024


  • Constrained fixed-time stability
  • Nonlinear optimum control
  • Optimum fixed-time sliding mode control
  • Quadrotors formation flying
  • Sliding mode predictive control

ASJC Scopus subject areas

  • Aerospace Engineering


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