A global fast terminal sliding mode control for trajectory tracking of unmanned aerial manipulation

Unmanned Aerial Manipulation (UAM) is a novel type of Vehicle (UAV) equipped with manipulators instead manual operation in hazardous and unreachable environments. The combination UAV manipulator unavoidably causes significant predicament due to the increase nonlinearity coupling UAM system. Consequently, system’s robustness becomes more vulnerable presence system uncertainty external disturbance. In addition, as real-time embedded system, rapid precise tracking desired trajectory an essential aspect performance. This study aims establish dynamic model propose global fast terminal sliding mode controller for tracking. derived from Lyapunov theory ensure stability closed-loop We set illustrative metrics evaluate performance designed compare it other two controllers by simulation. results show that proposed can effectively reduce convergence time error has good mechanical properties. And experimental also verified its effectiveness.