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

<div>The disturbance estimation. (a) The estimation value of the <span class="nowrap"><svg height="6.44133pt" id="M168" style="vertical-align:-0.29774pt" version="1.1" viewbox="-0.0498162 -6.14359 6.59789 6.44133" width="6.59789pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M475 445L452 468C423 436 401 426 385 426S352 427 305 436C268 443 216 448 185 448C156 448 128 425 102 382C89 360 77 338 64 304L89 291C117 340 143 380 190 380C214 380 268 376 295 373C320 370 344 371 362 374L70 101C32 65 23 36 23 18C23 5 27 -3 31 -8C36 -8 39 -6 42 -1C52 15 67 31 80 40S110 49 143 33C195 8 257 -20 290 -20C339 -20 382 11 439 129L416 148C366 74 334 55 305 55C278 55 236 68 203 81C169 94 141 100 122 96C205 170 348 308 411 376L475 445Z"></path></g></svg>-</span>channel. (b) The estimation value of the <span class="nowrap"><svg height="12.3916pt" id="M169" style="vertical-align:-3.42948pt" version="1.1" viewbox="-0.0498162 -8.96212 7.47216 12.3916" width="7.47216pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M542 242C542 369 469 429 379 468C370 472 372 496 376 513L416 681L400 691L344 648L219 51C167 69 113 128 113 217C113 324 166 387 266 428L252 459C124 418 23 336 23 202C23 95 90 13 205 -8L182 -132C165 -222 191 -254 209 -261L215 -258L270 -7C415 -4 542 98 542 242ZM469 232C469 126 403 33 279 39L355 409C399 394 469 331 469 232Z"></path></g></svg>-</span>channel.</div>

International Journal of Aerospace Engineering

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Figure 9

Figure 9: Nonsingular Global Fast Terminal Sliding Mode Control with Extended State Observer for Contact Force Regulation in Aerial Manipulator 