Adaptive Nonsingular Fast Terminal Sliding Mode Control of Aerial Manipulation Based on Nonlinear Disturbance Observer

Aimed at resolving the trajectory tracking control problem of aerial manipulation, this paper presents an manipulation system that consists a quadrotor unmanned vehicle (UAV) and two-degree-of-freedom manipulator. The adopted integrated strategy; is, rotor UAV manipulator were considered as whole, coupling effect was treated internal factor, whole taken research object to establish dynamic model. Then, by combining nonsingular fast terminal sliding mode controller with adaptive controller, designed. A composite rate based on nonlinear disturbance observer determined in order compensate for external modeling error well ensure its rapid convergence. Finally, different methods simulated setting operational tasks. simulation results show proposed method is effective.