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.


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    Title :

    Robust trajectory tracking for unmanned aircraft systems using high order sliding mode controllers-observers


    Contributors:


    Publication date :

    2017-06-01


    Size :

    415787 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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