This article deals with the design of a novel algorithm that combines a Modified Super-Twisting Controller with a High Order Sliding Mode Observer to enable an aerial vehicle to track a trajectory under the assumption that i) its translational velocities are unavailable and ii) there are unmodeled dynamics and external disturbances. We present a mathematical justification that ensures the existence of a second-order sliding motion for the combination Controller- Observer. In order to demonstrate the effectiveness of the proposed solutions, a set of simulation results are presented.
Robust trajectory tracking for unmanned aircraft systems using high order sliding mode controllers-observers
2017-06-01
415787 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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