This paper addresses the design of a continuous super twisting control combined with a high-order sliding mode observer for a class of nonlinear systems. An analysis of closed-loop stability is provided by means of Lyapunov approach, where sufficient conditions are given to ensure the convergence and to select the gains of the proposed controller. Numerical simulation and experimental results illustrate the performance of the proposed control-observer scheme for controlling the altitude of a quad-rotor aircraft. Furthermore, a comparative study against similar approaches from literature is included for illustrating that proposed methodology requires less control effort while shows the best performance.

本文针对一类非线性系统，结合连续高扭曲控制与高阶滑模观测器的设计。利用Lyapunov方法对闭环稳定性进行了分析，其中给出了足够的条件以确保收敛并选择所建议控制器的增益。数值模拟和实验结果说明了所提出的控制观测器方案在控制四旋翼飞机高度方面的性能。此外，还包括一项针对文献中类似方法的比较研究，以说明所提出的方法需要较少的控制工作，同时显示出最佳性能。