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A novel nonsingular terminal sliding mode control for aerial robot based on fixed-time disturbance observer
Received date: 2025-05-22
Revised date: 2025-07-29
Accepted date: 2025-11-03
Online published: 2025-11-10
Supported by
Foundation of National Key Laboratory Foundation of Helicopter Aeromechanics(2024-ZSJ-LB-02-05);Foundation of State Key Laboratory of Aerospace Structural Mechanics and Control(MCMS-E-0123G04)
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.
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 AERONAUTICAET ASTRONAUTICA SINICA, 2026 , 47(9) : 532278 -532278 . DOI: 10.7527/S1000-6893.2025.32278
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