A sliding mode control algorithm based on fixed-time sliding mode observer is proposed for the trajectory tracking control of rotor flight manipulator with self-modeling uncertainties and external disturbances.Firstly,the kinematics and dynamics models of the rotor flight manipulator are established in the generalized coordinate system,and a fixed-time observer is designed to estimate the uncertainties of the model parameters and the external disturbances.The piecewise function and the saturation function are introduced into the sliding surface to suppress the chattering of the fixed-time observer and speed up its convergence.Then,the rotor flight manipulator is divided into three subsystems,that is position,attitude and manipulator.Based on the fixed-time theory,a new fixed-time sliding mode controller is designed for the three subsystems respectively,and an adaptive reaching law is designed to suppress the chattering of the sliding mode controller.Compared with the traditional sliding mode controller,this controller has faster convergence speed and better tracking performance.The stability of the system is proved by Lyapunov stability theory.Finally,the effectiveness of the proposed algorithm is verified by simulation experiments,and it has good effects on the trajectory tracking control of the rotor flight manipulator.