Fast Terminal Sliding Mode Control Based on Finite-Time Observer and Improved Reaching Law for Aerial Robots

In this paper, a non-singular fast terminal sliding mode control (NFTSMC) strategy based on finite-time observer and improved reaching rate is proposed to solve the problem of aerial robot systems subject actuator faults internal external disturbances. Using in rapid convergence high robustness system are guaranteed. addition, can observe information related fault or disturbance an accurate timely fashion, actively compensate fault. The law introduced paper cause reach surface quickly, effectively improving response speed increasing tracking performance system. stability whole proved using Lyapunov analysis. Finally, effectiveness verified basis numerical simulation six-rotor UAV model with manipulator.