Nonsingular Global Fast Terminal Sliding Mode Control with Extended State Observer for Contact Force Regulation in Aerial Manipulator

The aerial manipulator is a novel flying robot consisting of an unmanned vehicle (UAV) and multi-degree-of-freedom (DoF) robotic arm. It can actively interact with the environment to conduct dangerous or inaccessible tasks for humans. In this paper, we propose composite control scheme considering force position operate in steady contact when influenced by external disturbances. First, method without employing sensor obtained on mechanical relationship system’s environment. Second, regard internal coupling disturbance as lumped disturbances design extended state observer (ESO) estimate them. Combined estimation nonsingular global fast sliding mode algorithm, controller derived from Lyapunov theory proposed. Finally, compare proposed other four controllers through simulations actual flight experiments. results show that effectively restrain disturbances, reduce convergence time, guarantee under