T. C. KIAT ET AL.

Copyright © 2013 SciRes. OJAppS

Figure 9. Control input for the tracking problem.

Figure 10. Flight path angle error for the tracking problem.

5. Conclu sions

In this paper, a contraction-based backstepping technique

using the hierarchical contraction structure was demon-

strated. The unique hierarchical contraction structure

with backstepping control formulation provides recursive

control law that was formulated systematically. Expo-

nential stability of the closed-loop system and individual

controlled variable was achieved. The control algorithm

was demonstrated on a flight path angle stabilization and

tracking problem.

6. Acknow l edgements

The authors would like to thank Nanyang Technological

University and DSO National Laboratories for their sup-

port on this project.

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