航空学报2026，Vol.47Issue(9)：305-320,16.DOI:10.7527/S1000-6893.2025.32278
基于固定时间干扰观测器的空中机器人非奇异终端滑模控制
A novel nonsingular terminal sliding mode control for aerial robot based on fixed-time disturbance observer
摘要
Abstract
To address the high-precision trajectory tracking control problem for aerial robot under compound distur-bances,this paper proposes a sliding mode control strategy based on a fixed-time disturbance observer.First,consid-ering the coupled effects of centroid offset after target grasping and turbulent wind fields,a six-degree-of-freedom dy-namic model is established using the Newton-Euler formula and design a fixed-time convergent compound disturbance observer for disturbance estimation.Second,for the position control subsystem,a nonsingular fast terminal sliding mode controller based on a novel reaching law is designed,which can effectively avoid the system falling into a singu-lar state while enhancing the system's dynamic response performance.For the attitude control subsystem,a hybrid control strategy integrating integral backstepping is proposed to improve the system robustness against external distur-bances.Finally,simulation comparisons are conducted to validate the effectiveness of the proposed approach.关键词
固定时间干扰观测器/非奇异快速终端滑模控制/抗扰控制/重心偏移/空中机器人Key words
fixed-time disturbance observer/nonsingular fast terminal sliding mode control/anti-disturbance control/centroid offset/aerial robot分类
航空航天引用本文复制引用
赵静,潘龙,陆宁云,黄海云,马亚杰,徐丰羽..基于固定时间干扰观测器的空中机器人非奇异终端滑模控制[J].航空学报,2026,47(9):305-320,16.基金项目
直升机动力学全国重点实验室基金(2024-ZSJ-LB-02-05) （2024-ZSJ-LB-02-05）
航空航天结构力学及控制全国重点实验室基金(MCMS-E-0123G04) Foundation of National Key Laboratory Foundation of Helicopter Aeromechanics(2024-ZSJ-LB-02-05) （MCMS-E-0123G04）
Foundation of State Key Laboratory of Aerospace Structural Mechanics and Control(MCMS-E-0123G04) （MCMS-E-0123G04）
