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This article presents a new kind of vectorial backstepping sliding mode control (BSMC) for the positioning and trajectory tracking of an autonomous robotic airship. Also, a unified framework basis for the design/analysis of vectorial BSMC, as well as sliding mode control and backstepping control for a system in lower triangular block form is derived. The design framework makes the theoretical-based comparative analysis of performances/robustness easier between the three nonlinear control approaches. Simulation results for the positioning and tracking of the autonomous airship illustrate the proposal.

Unified Backstepping Sliding Mode Framework for Airship Control Design