但，以上研究均未对未知函数和外在扰动进行精确估计。为了克服干扰，出现了

However, none of the above studies accurately estimated unknown functions and external disturbances. In order to overcome the interference, a control method based on the disturbance observer appears, which can estimate the influence of the interference and further use it for compensation. Therefore, for uncertain chaotic gyro systems, this paper will propose a non-singular terminal sliding mode control method, which integrates disturbance observation and fuzzy estimation parameters into the non-singular terminal sliding mode controller (NTSMC), so that the controlled system can be quickly and effectively Achieve finite time stability. Its main features are: (1) Compared with the result of [21], the unknown function and external disturbance are accurately estimated by the fuzzy logic system and disturbance observer; (2) The controller will not have singular problems and chattering phenomena. .

However, none of the above studies made accurate estimates of unknown functions and exexternal disturbances. In order to overcome the interference, a control method based on the perturbation observer has been developed, which can be estimated and further used for compensation. Therefore, for the uncertain chaotic gyro system, this paper will propose a non-singular terminal slip mode control method, the disturbance observation and fuzzy estimation parameters into the non-singular terminal sliding controller (NTSMC), so that the controlled system quickly and effectively achieve limited time stability. Its main features are: (1) compared with the results of the one, using fuzzy logic system and perturbation observer to make accurate estimation of unknown functions and exoperturum;

However, the unknown function and external disturbance are not accurately estimated. In order to overcome the disturbance, a control method based on disturbance observer is proposed, which can estimate the influence of the disturbance and compensate it further. Therefore, for uncertain chaotic gyroscope systems, a nonsingular terminal sliding mode control method is proposed. The disturbance observation and fuzzy estimation parameters are integrated into the nonsingular terminal sliding mode controller (ntsmc), so that the controlled system can achieve finite time stability quickly and effectively. The results show that: (1) the fuzzy sum of the controller does not appear the problem of the unknown disturbance; (2) the fuzzy sum of the controller does not appear the problem of the external disturbance.<br>