@article{ZHAO2026, 
author = {Jing ZHAO and Long PAN and Ningyun LU and Haiyun HUANG and Yajie MA and Fengyu XU},
title = {A novel nonsingular terminal sliding mode control for aerial robot based on fixed-time disturbance observer},
year = {2026},
journal = {Acta Aeronautica et Astronautica Sinica},
volume = {47},
number = {9},
keywords = {anti-disturbance control, fixed-time disturbance observer, nonsingular fast terminal sliding mode control, centroid offset, aerial robot},
url = {https://www.sciopen.com/article/10.7527/S1000-6893.2025.32278},
doi = {10.7527/S1000-6893.2025.32278},
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.}
}