Smooth Second-Order Sliding Mode Flight Control of an Ellipsoidal Multirotor Airship

Resumo

This work is concerned with the robust attitude and position tracking control of a multirotor
airship subject to a smooth model uncertainty representing unknown aerodynamics coefficients and added
mass. The vehicle is assumed to be full-actuated. To tackle this problem, we present a multi-input
formulation of a smooth second-order sliding mode control strategy with stability guaranteed on the basis
of vector field homogeneity. The method is evaluated using numerical simulation and shows effective.