To address the problem of degraded control performance of electromagnetic linear actuator caused by the direct action of parameter perturbation and external disturbance

a composite control method combining adaptive disturbance observer and improved super-twisting global fast terminal sliding mode control was proposed. To improve the anti-interference ability of system and avoid the use of high-gain feedback

an adaptive sliding mode disturbance observer was designed to observe the uncertain factors with adaptive feedforward compensation. To ensure the finite-time convergence of the system

the equivalent control part was designed by constructing the improved global fast terminal sliding mode surface

and the improved fast super-twisting algorithm is introduced into the switching control law for the approach phase to further improve the convergence speed and reduce the jitter effect. The stability was analyzed based on Lyapunov theorem

and effectiveness of the control method was verified through simulation and experiment. The results show that the prosed method has the advantages of improving system robustness and avoiding the conservative parameter selection

which can realize adaptive observation compensation for nonlinear time-varying disturbances

ensure faster convergence of the error in finite time

and suppress the jitter.