We study the effect of gapless quasiparticles in a d-wave superconductor on the $T=0$ end point of the Kosterlitz-Thouless transition line in underdoped high-temperature superconductors. Starting from a lattice model that has gapless fermions coupled to three-dimensional $\mathrm{XY}$ phase fluctuations of the superconducting order parameter, we propose a continuum field theory to describe the quantum phase transition between the d-wave superconductor and the spin-density-wave insulator. Without fermions, the theory reduces to the standard Higgs scalar electrodynamics (HSE), which is known to have the critical point in the inverted $\mathrm{XY}$ universality class. Extending the renormalization group calculation for the HSE to include the coupling to fermions, we find that the qualitative effect of fermions is to increase the portion of the space of coupling constants where the transition is discontinuous. The critical exponents at the stable fixed point vary continuously with the number of fermion fields N, and we estimate the correlation length exponent $(\ensuremath{\nu}=0.65)$ and the vortex field anomalous dimension $({\ensuremath{\eta}}_{\ensuremath{\Phi}}=\ensuremath{-}0.48)$ at the quantum critical point for the physical case $N=2.$ The stable critical point in the theory disappears for the number of Dirac fermions $N>{N}_{c},$ with ${N}_{c}\ensuremath{\approx}3.4$ in our approximation. We discuss the relationship between the superconducting and the chiral (SDW) transitions, and point to some interesting parallels between our theory and the Thirring model.
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