针对复合扰动下空中机器人的高精度轨迹跟踪控制问题，本文提出一种基于固定时间干扰观测器的滑模控制策略。首先，考虑目标抓取后重心偏移与紊流风场耦合因素，采用牛顿-欧拉公式建立六自由度动力学模型，进而设计固定时间收敛的复合干扰观测器进行扰动估计。其次，针对位置控制子系统，设计基于新型趋近律的非奇异快速终端滑模控制器，可以有效避免系统陷入奇异状态，同时提升系统的动态响应性能；针对姿态控制子系统，提出融合积分反步法的混合控制策略，能够增强系统鲁棒性以应对外部干扰。最后，经过仿真对比验证所提方法的有效性。

In this paper, we propose a sliding mode control strategy based on a fixed-time disturbance observer to address the high-precision trajectory tracking control problem for air robots under compound disturbances. First, considering the coupled effects of centroid offset after target grasping and turbulent wind fields, we establish a six-degree-of-freedom dynamic model using the Newton-Euler formula and design a fixed-time convergent compound disturb-ance observer for disturbance estimation. Second, for the position control subsystem, a nonsingular fast terminal sliding mode controller based on a novel reaching law is designed, which can effectively avoid the system falling into a singular state while enhancing the system's dynamic response performance; for the attitude control subsys-tem, a hybrid control strategy integrating integral backstepping is proposed to improve the system's robustness against external disturbances. Finally, simulation comparisons are conducted to validate the effectiveness of the proposed approach.