Abdelatif Oussar1,*, Abdelmoumen Ferrag1, Mohamed Guiatni1, Mustapha Hamerlain2
Intelligent Automation & Soft Computing, Vol.29, No.2, pp. 467-495, 2021, DOI:10.32604/iasc.2021.01000
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… More >
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