Sliding Mode Based Incremental Tracking Control of High-Order Fully Actuated Systems with Application

This paper proposes a sliding-mode based incremental tracking control method for the high-order fully actuated (HOFA) system. It is ensured that the tracking error converges to zero within the given settling time which is exactly user-assignable and maintains there from then on. By designing the desired tracking error trajectory, the reaching phase of the sliding mode is eliminated, and by adopting the basic principle of the INDI control strategy, the proposed control method only needs relatively limited model information, improving the robustness of the system against model uncertainties. The proposed approach is finally applied to the attitude tracking control of the high speed aircraft and the effectiveness of the design is verified by numerical simulation results.