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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 cont...
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... consider the S g representations a g (a 1 , a 2 , a 3 ) and b g of a and b, respectively. The vector product c = a × b is represented in the same CCS by Figure 1 illustrates an arbitrary multirotor airship as well as the adopted CCSs. The body CCS S b {B; x b , , y b , , z b } is located at the hull's center of volume, with x b and z b pointing frontward and upward, respectively. ...
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