This article presents a new kind of vectorial backstepping sliding mode control (BSMC) for the positioning and trajectory tracking of an autonomous robotic airship. Also, a unified framework basis for the design/analysis of vectorial BSMC, as well as sliding mode control and backstepping control for a system in lower triangular block form is derived. The design framework makes the theoretical-based comparative analysis of performances/robustness easier between the three nonlinear control approaches. Simulation results for the positioning and tracking of the autonomous airship illustrate the proposal.


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    Title :

    Unified Backstepping Sliding Mode Framework for Airship Control Design




    Publication date :

    2020-08-01


    Size :

    3706260 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



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