A Super-Twisting Sliding Mode Controller Based on Extended State Observer of Flying Boom

Flying boom refueling is a more complex system than hose-and-drogue refueling. Correspondingly, its refueling efficiency is much higher than hose-and-drogue refueling, and its flying boom can be controlled, which can greatly improve the success rate of docking. Considering that there are some problems in the control process of the flying boom, it is difficult to control well because the flying boom is a nonlinear system, and meanwhile, disturbances including the tanker wake and atmospheric turbulence may interfere with the flying boom. To solve the above problems, a super-twisting sliding mode control method is designed to improve the control quality of the flying boom nonlinear system, and an extended state observer is introduced to anti-disturbance. The simulation results demonstrate the proposed attitude controller's effectiveness and robustness.