3D Trajectory Tracking Control for a Thrust-Propelled Vehicle with Time-varying Disturbances

摘要

This paper discusses trajectory tracking for a class of under-actuated thrust-propelled vehicle in the presence of two time-varying disturbances. A saturated estimator based on equivalent output injection sliding mode disturbance observer is employed to accommodate for the adverse effect of the translational disturbance. To handle the rotational disturbance, we make use of a sliding mode controller. The stability of the overall system is investigated by means of Lyapunov function theory. A numerical simulation is included in the paper to show effectiveness of the proposed control scheme.