Unified Backstepping Sliding Mode Framework for Airship Control Design

TL;DR

This paper introduces a unified backstepping sliding mode control framework for autonomous airship positioning and trajectory tracking, enabling easier comparison of control methods and demonstrating effectiveness through simulations.

Contribution

It develops a unified theoretical framework for vectorial BSMC, SMC, and BS control approaches applied to airship control systems.

Findings

Framework facilitates performance comparison of control methods.

Simulation confirms improved control performance.

Unified approach enhances robustness analysis.

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.