Finite‐time disturbance observer‐based modified super‐twisting algorithm for systems with mismatched disturbances: Application to fixed‐wing UAVs under wind disturbances

This article proposes a finite-time disturbance observer-based modified super-twisting algorithm (FDO-STA) for disturbed high-order integrator-chain systems under matched and mismatched disturbances. We first design observer estimation, in which we show the convergence of estimation errors to zero. Second, by employing estimates disturbances their derivatives, new dynamic sliding surface is derived, ensures controlled output zero phase. Then, based on designed surface, algorithm, develop FDO-STA, guarantees variable reaching Rigorous analysis provided stability overall closed-loop system proposed control scheme. finally apply FDO-STA framework path following fixed-wing UAVs wind Various simulation results are effectiveness controller, compared with existing approaches.