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

Table 5

The effect of design parameters on control performance.

Parameter	Effect on control performance
	determines the system’s speed approaching the sliding mode when large step responses. determine the speed at which the system is about to reach the sliding mode.
	In the sliding mode, the nonlinear part parameters determine the speed at which the system converges from the initial state to the stable state, and the farther away from the equilibrium state, the faster the convergence. determine the system’s speed about reaching a stable state. are also exponential factors that determine the nonsingularity of the sliding mode.
	is a high-gain error feedback parameter, which makes the dynamics of the observer much higher than that of the system’s, which is equivalent to a fast-changing subsystem in the system, thus ensuring that the observer error can converge quickly and have a sufficiently high estimation accuracy.