Tele‐aiming control design for reconnaissance robot using a strong tracking multi‐model extended super‐twisting observer

In this study, a tele-aiming control system for reconnaissance robots is proposed, capable of enabling operators to quickly the robot aim at and track manoeuvring target with random motion characteristics under measurement noise. To such targets, cascaded multi-model super-twisting observer designed. First, uncertainty inertial impact force disturbance generated during rapid are expanded into lumped state. Subsequently, strong tracking filter employed estimate output disturbance, input extended state observer. The final second-order estimation augmented conducted in accordance weighted sum all observers. Lastly, non-singular terminal sliding mode controller designed compensate achieve fast trajectory tracking. verify effectiveness proposed observer-based controller, series experiments was performed. As revealed by experimental results, can abrupt noise disturbance.