Robust fractional-order fast terminal sliding mode control of aerial manipulator derived from a mutable inertia parameters model

The coupling disturbance between the manipulator and unmanned aerial vehicle (UAV) deteriorates control performance of system. To get high manipulator, a robust fractional order fast terminal sliding mode (FOFTSMC) strategy based on mutable inertia parameters is proposed in this paper. First, dynamics with consideration derived by utilizing parameters. Then, dynamic model, FOFTSMC algorithm designed to make system fly steadily under disturbance. Furthermore, stability analysis conducted prove convergence tracking errors. Finally, comparative simulation results are given show validity superiority scheme.