基于固定时间干扰观测器的空中机器人非奇异终端滑模控制

doi:10.7527/S1000-6893.2025.32278

Abstract

Abstract:

To address the high-precision trajectory tracking control problem for aerial robot under compound disturbances， this paper proposes a sliding mode control strategy based on a fixed-time disturbance observer. First， considering the coupled effects of centroid offset after target grasping and turbulent wind fields， a six-degree-of-freedom dynamic model is established using the Newton-Euler formula and design a fixed-time convergent compound disturbance 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 subsystem， a hybrid control strategy integrating integral backstepping is proposed to improve the system robustness against external disturbances. Finally， simulation comparisons are conducted to validate the effectiveness of the proposed approach.

Key words: fixed-time disturbance observer, nonsingular fast terminal sliding mode control, anti-disturbance control, centroid offset, aerial robot

CLC Number:

V249

Jing ZHAO, Long PAN, Ningyun LU, Haiyun HUANG, Yajie MA, Fengyu XU. A novel nonsingular terminal sliding mode control for aerial robot based on fixed-time disturbance observer[J]. Acta Aeronautica et Astronautica Sinica, 2026, 47(9): 532278.

Figures/Tables 16

Fig.1

Fig.2

Table 1

System parameter

参数	数值	参数	数值
$m a$ / $k g$	1.590 1	$k$ /（ $N ⋅ m ⋅ s - 2$ ）	$8.721 × 10 - 7$
$m 0$ / $k g$	1	$l 0$ /m	0.038
$L$ /m	0.31	$l 1$ /m	0.08
$I x, I y$ /（ $N ⋅ s 2 ⋅ r a d - 1$ ）	1.25	$l 2$ /m	0.08
$I z$ /（ $N ⋅ s 2 ⋅ r a d - 1$ ）	2.5	$l 3$ /m	0.034
$b$ /（ $N ⋅ s - 2$ ）	$5.324 × 10 - 5$

Table 1

Table 2

D-H parameter of robotic manipulator

$i$	$a i - 1$	$θ i$
1	$l 1$	0
2	$l 2$	$q 1$
3	$l 3$	$q 2$

Table 2

Fig.3

Table 3

Observer parameter

参数	$γ 1$	$γ 2$	$γ 3$	$δ$	$α 1$	$α 2$
数值	0.1	0.1	0.1	6	0.2	1.1

Table 3

Table 4

Parameter estimator parameter settings［2］

参数	$H 1$	$Y 1$
数值	0.1	0.1

Table 4

Fig.4

Fig.5

Fig.6

Table 5

Position controller parameter

参数	$ξ 1$	$ξ 2$	$ξ 3$	$β 1$	$β 2$	$β 3$	$r 1$
数值	2	2	2	2	2	2	3
参数	$r 2$	$r 3$	$k 1$	$k 2$	$k 3$	$ε 1$	$ε 2$
数值	3	3	0.02	0.02	10	0.7	1.1

Table 5

Table 6

Attitude controller parameter

参数	$k ϕ$	$k θ$	$k ψ$	$K ϕ$	$K θ$	$K ψ$	$ξ 4$	$ξ 5$
数值	5	5	5	5	5	5	0.02	0.02
参数	$ξ 6$	$β 4$	$β 5$	$β 6$	$ε 3$	$r 4$	$κ 1$	$κ 2$
数值	0.02	0.02	0.02	0.02	0.8	3	4	4

Table 6

Fig.7

Table 7

Control performance comparison

方法	收敛时间/s				稳态误差
方法	$x$	$y$	$z$	$ϕ$	$x$ /mm	$y$ /mm	$z$ /mm	$ϕ$ / （10^-3 rad）
本文	4.03	4.56	4.37	0.73	0.5	0.4	0.015	0.01
文献［23］	6.74	9.56	9.78	2.05	4	3.1	2	0.6
文献［2］	4.51	5.30	5.11	2.18	1.5	1.2	0.5	0.2
文献［27］	5.62	6.23	6.62	1.53	3	2.6	4	0.2
文献［28］	6.43	7.67	5.32	1.05	3.6	1.5	1.4	1.8
无风场模型	3.86	4.16	4.22	2.21	1.5	1.6	0.7	2.6

Table 7

Fig.8

Fig.9

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A novel nonsingular terminal sliding mode control for aerial robot based on fixed-time disturbance observer

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