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arXiv · 1909.03143

Unified Backstepping Sliding Mode Framework for Airship Control Design

Henrique S. Vieira·Ely C. de Paiva·Sergio K. Moriguchi·Jose R. H. Carvalho
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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.

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BibTeXRIS

Henrique S. Vieira, Ely C. de Paiva, Sergio K. Moriguchi, Jose R. H. Carvalho. 2019-09-06. Unified Backstepping Sliding Mode Framework for Airship Control Design. https://arxiv.org/abs/1909.03143

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