Simplex sliding mode control for autonomous six-DOF-vehicles with mono-directional actuators: Robustness, stability, and implementation issues

The position and attitude control of a six-degree-of-freedom vehicle is dealt with in this paper. The actuation system is assumed to consist of a set of mono-directional devices suitably located and directed. The model of the system is characterized by a large amount of uncertainties, disturbances and measurement errors. The state is assumed fully available and the navigation problems generating smooth references for the state trajectories are supposed already solved. A new attitude guidance algorithm has been developed to enhance robustness with respect to a class of nonsmooth measurement errors. The use of the simplex-based sliding mode methodology reveals to be simultaneously suitable for the design of the actuation system (position and orientation of the actuators) and the implementation of the control strategy. The chattering phenomenon is strongly attenuated by the introduction of integrators in the input channel and, consequently to this choice, a suitable mechanism to avoid the unbounded growth of the individual thrust of the actuators is designed, while at the same time, achieving a direct control of power losses. The performances of the proposed control scheme are demonstrated by simulation by using mathematical models available in the literature.