南京航空航天大学学报（英文版）2026，Vol.43Issue(2)：225-237,13.DOI:10.16356/j.1005-1120.2026.02.005
基于非奇异终端滑模的多飞行机械臂时延协同控制
Time-Delay Collaborative Control of Multiple Aerial Manipulators Using Nonsingular Terminal Sliding Mode
摘要
Abstract
To enhance the overall performance of multiple aerial manipulators under complex lumped disturbances,a nonsingular terminal sliding mode(NTSM)controller based on time-delay estimation(TDE)and deviation coupling control(DCC)is proposed.The stability of the controller is proven using the Lyapunov stability theory.Comparative experiments are conducted using a system of multiple aerial manipulators.The results demonstrate that,compared with a PID controller based on TDE,the proposed controller reduces the integral of absolute error(IAE),integral of time-weighted absolute error(ITAE),and integral of squared error(ISE)by at least 45.8%,44.1%,and 66.5%respectively,thereby achieving superior overall control performance.关键词
多飞行机械臂/时延估计/终端滑模/协同控制Key words
multiple aerial manipulators/time-delay estimation(TDE)/terminal sliding mode/collaborative control分类
信息技术与安全科学引用本文复制引用
吴志雨,王尧尧,王汉卓,陈家旺,孙立壮..基于非奇异终端滑模的多飞行机械臂时延协同控制[J].南京航空航天大学学报（英文版）,2026,43(2):225-237,13.基金项目
This work was supported in part by the National Natural Science Foundation of China(Nos.52575120,52175097)and Key Research and Develop-ment Program of Zhejiang(No.2024SSYS0089). （Nos.52575120,52175097）
