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

Abdelatif Oussar1,*, 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.

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


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.


UGV/UAV tracking; integral sliding mode controller; trajectory tracking; integral-backstepping controller; Kalman filter; robust smooth variable structure filter

Cite This Article

A. Oussar, A. Ferrag, M. Guiatni and M. Hamerlain, "Svsf-based robust ugv/uav control/tracking architecture in disturbed environment," Intelligent Automation & Soft Computing, vol. 29, no.2, pp. 467–495, 2021.

This work is licensed under a Creative Commons Attribution 4.0 International License , which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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