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A class of controlled objects is considered, the dynamics of which are determined by a vector system of ordinary differential equations with a partially known right-hand side. It is presumed that the state variables and their velocities can be measured. Designing a robust tracking controller under some constraints to admissible state variables is the research goal. This construction, which extends the results for the average subgradient technique (ASG), and is an update of the subgradient descent technique (SDM) and integral sliding mode (ISM) approach, is realized by using the Legendre–Fenchel transform. A two-link robot manipulator with three revolute joints, powered by individual PMDC motors, is presented as an illustrative example of the suggested approach implementation. [ABSTRACT FROM AUTHOR]

This paper focuses on the embedded super twisting control for the orientation dynamics of a quadrotor. The Newton-Euler approach is applied to obtain the dynamic model of the quadrotor and a functional description of the experimental platform is described. In order to implement the control algorithm and perform real-time flights, a commercial flight computer is used. Experimental results are obtained in real-time during the autonomous flight. [ABSTRACT FROM PUBLISHER]