Predefined-Time Adaptive Fast Terminal Sliding Mode Control of Aerial Manipulation Based on a Nonlinear Disturbance Observer

The contribution of this paper is to propose an adaptive fast terminal sliding mode controller that ensures exact predefined time stability of aerial manipulation tracking control based upon the nonlinear disturbance observer.The proposed control strategy is continuous and provides reliability in the situation of model error and nonvanishing disturbance.The adaptive parameter can adapt to the states of a system aimed at increasing the robustness of an aerial manipulator while reducing system chattering. Furthermore, the proposed nonlinear disturbance observer provides a scheme where the estimation of the observer can converge to the actual value within a given predefined time for the sake of enhancing robustness of the aerial manipulation system. Simulation results show the viability of the proposed controller in this paper.