# Adaptive Fixed Time Nonsingular Terminal Sliding-Mode Control for Quadrotor Formation With Obstacle and Inter-Quadrotor Avoidance

> Research article (IEEE Access, 2021) · cited 20× · AI/ML

**Wikidata**: [openalex:W3153658014](https://www.wikidata.org/wiki/openalex:W3153658014)  
**Source**: https://4ort.xyz/entity/adaptive-fixed-time-nonsingular-terminal-sliding-mode-control-for-quadrotor-formation-with-obstacle-and-inter-quadrotor-