Event-Driven Fixed-Time Control for Underactuated Nonlinear Systems: Application to Quadrotor UAVs

Journal article

Prof. Madhumita Pal, , , Prof. Sanjoy Mondal, , , Satyajeet Prakash,
Publisher: IEEE(Published in: 2026 Sixth International Conference on Advances in Electrical, Computing, Communications and Sustainable Technologies (ICAECT)), 2026

DOI: 10.1109/ICAECT68478.2026.11426005

https://ieeexplore.ieee.org/document/11426005...

Cite

APA Click to copy
Event-Driven Fixed-Time Control for Underactuated Nonlinear Systems: Application to Quadrotor UAVs. (2026), Publisher: IEEE(Published in: 2026 Sixth International Conference on Advances in Electrical, Computing, Communications and Sustainable Technologies (ICAECT). https://doi.org/ 10.1109/ICAECT68478.2026.11426005

Chicago/Turabian Click to copy
“Event-Driven Fixed-Time Control for Underactuated Nonlinear Systems: Application to Quadrotor UAVs” Publisher: IEEE, no. Published in: 2026 Sixth International Conference on Advances in Electrical, Computing, Communications and Sustainable Technologies (ICAECT) (2026).

MLA Click to copy
Event-Driven Fixed-Time Control for Underactuated Nonlinear Systems: Application to Quadrotor UAVs. Vol. Publisher: IEEE, no. Published in: 2026 Sixth International Conference on Advances in Electrical, Computing, Communications and Sustainable Technologies (ICAECT), 2026, doi: 10.1109/ICAECT68478.2026.11426005.

BibTeX Click to copy

@article{prof2026a,
  title = {Event-Driven Fixed-Time Control for Underactuated Nonlinear Systems: Application to Quadrotor UAVs},
  year = {2026},
  issue = {Published in: 2026 Sixth International Conference on Advances in Electrical, Computing, Communications and Sustainable Technologies (ICAECT)},
  volume = {Publisher: IEEE},
  doi = { 10.1109/ICAECT68478.2026.11426005},
  author = {}
}

This paper presents an event-driven implementation of fixed-time sliding mode control (FxT-SMC) strategy for underactuated nonlinear systems, with application to quadrotor unmanned aerial vehicles. The event-triggered (ET) mechanism is designed to reduce communication and computation burdens while preserving the fixed-time convergence properties of the continuous controller. A nonsingular fixed-time sliding manifold is employed to ensure global convergence within a predefined time and to avoid singularities near the origin. When the tracking error enters a small neighborhood of the equilibrium, the manifold transitions smoothly to a quadratic form, ensuring continuity and eliminating potential singular behavior. Lyapunovbased analysis establishes global fixed-time stability (FxTS) under the ET framework, and Zeno behavior is excluded by design. Simulation results on a quadrotor UAV demonstrate that the proposed event-triggered FxT-SMC achieves precise trajectory tracking with reduced control updates by 74.2% and improved robustness against disturbances and model uncertainties.

Published in: 2026 Sixth International Conference on Advances in Electrical, Computing, Communications and Sustainable Technologies (ICAECT)

Date of Conference: 08-09 January 2026

Date Added to IEEE Xplore: 13 March 2026

ISBN Information:

Electronic ISBN:979-8-3315-7322-5

Print on Demand(PoD) ISBN:979-8-3315-7323-2

DOI: 10.1109/ICAECT68478.2026.11426005

Publisher: IEEE

Conference Location: Bhilai, India