TY  - EJOU
AU  - Oussar, Abdelatif 
AU  - Ferrag, Abdelmoumen 
AU  - Guiatni, Mohamed 
AU  - Hamerlain, Mustapha 

TI  - SVSF-Based Robust UGV/UAV Control/Tracking Architecture in Disturbed Environment
T2  - Intelligent Automation \& Soft Computing

PY  - 2021
VL  - 29
IS  - 2
SN  - 2326-005X

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

DO  - 10.32604/iasc.2021.01000