Time‑Delay Collaborative Control of Multiple Aerial Manipulators Using Nonsingular Terminal Sliding Mode

To enhance the overall performance of multiple aerial manipulators under complex lumped disturbances， a nonsingular terminal sliding mode （NTSM） controller based on time-delay estimation （TDE） and deviation coupling control （DCC） is proposed. The stability of the controller is proven using the Lyapunov stability theory. Comparative experiments are conducted using a system of multiple aerial manipulators. The results demonstrate that， compared with a PID controller based on TDE， the proposed controller reduces the integral of absolute error （IAE）， integral of time-weighted absolute error （ITAE）， and integral of squared error （ISE） by at least 45.8%， 44.1%， and 66.5% respectively， thereby achieving superior overall control performance.