Open Access

ARTICLE

SVSF-Based Robust UGV/UAV Control/Tracking Architecture in Disturbed Environment

by Abdelatif Oussar^1,*, Abdelmoumen Ferrag¹, Mohamed Guiatni¹, Mustapha Hamerlain²

1 Ecole Militaire Polytechnique, Algiers, Algeria
2 Centre de Développement des Technologies Avancées, Algiers, Algeria

* Corresponding Author: Abdelatif Oussar. Email:

Intelligent Automation & Soft Computing 2021, 29(2), 467-495. https://doi.org/10.32604/iasc.2021.01000

Received 04 December 2019; Accepted 03 July 2020; Issue published 16 June 2021

Abstract

This paper presents the design of a robust architecture for the tracking of an unmanned ground vehicle (UGV) by an unmanned aerial vehicle (UAV). To enhance the robustness of the ground vehicle in the face of external disturbances and handle the non-linearities due to inputs saturation, an integral sliding mode controller was designed for the task of trajectory tracking. Stabilization of the aerial vehicle is achieved using an integral-backstepping solution. Estimation of the relative position between the two agents was solved using two approaches: the first solution (optimal) is based on a Kalman filter (KF) the second solution (robust) uses a smooth variable structure filter (SVSF). Simulations results, based on the full non-linear model of the two agents are presented in order to evaluate the performance and robustness of the proposed tracking architecture.

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Keywords

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