Adaptive Nonsingular Fast-Reaching Terminal Sliding Mode Control Based on Observer for Aerial Robots
Pu Yang,
Yan Xuan,
Wanting Li
Abstract:In this article, an observer-based adaptive non-singular fast-reaching terminal sliding mode control strategy is proposed to tackle the problem of actuator faults and uncertain disturbance in aerial robot systems. Firstly, a model of an aerial robot system is established through dynamic analysis. Next, an adaptive observer, combined with a fast adaptive fault estimation (FAFE) algorithm, is proposed to estimate system states and actuator failure and compensate for faults in a precise and prompt manner. In addi… Show more
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