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In this work we address the position and attitude control problems for autonomous vehicles in 6 Degrees of Freedom (DOFs), with monodirectional actuators and whose mathematical description includes uncertainties and disturbances. Quaternion-based guidance rules are proposed for attitude and position control at the kinematic level. The actuation system consists of seven monodirectional jets, suitably...
This paper considers regular simplices of vectors, the exploitation of which is analyzed in the simplex sliding mode control of multi-input uncertain nonlinear systems. The method is extended to eliminate the chattering phenomenon. To this end an estimation procedure based on second order sliding mode algorithms is coupled with a simplex sliding mode control of an augmented order system. The methodology...
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