Unified Backstepping Sliding Mode Framework for Airship Control Design
Systems and Control
2019-09-10 v1 Systems and Control
Abstract
This paper 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 (SMC) and backstepping control (BS) for a system in lower triangular block form is derived. The design framework makes it easier the theoretical-based comparative analysis of performances/robustness between the three nonlinear control approaches. Simulation results for the positioning and tracking of the autonomous airship illustrate the proposal.
Keywords
Cite
@article{arxiv.1909.03143,
title = {Unified Backstepping Sliding Mode Framework for Airship Control Design},
author = {Henrique S. Vieira and Ely C. de Paiva and Sergio K. Moriguchi and Jose R. H. Carvalho},
journal= {arXiv preprint arXiv:1909.03143},
year = {2019}
}
Comments
12 pages, 17 figures