Unified Backstepping Sliding Mode Framework for Airship Control Design
2020
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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