A Simple Approach to Regulate a PVTOL System Using Matching Conditions

    Research output: Contribution to journalArticlepeer-review

    1 Scopus citations

    Abstract

    In this work, based on shaping an energy function, it is introduced an output-feedback regulation control law for a Planar Vertical Takeoff and Landing (PVTOL) aircraft. To this end, a version of the matching control energy method is used to construct the Lyapunov candidate function and the stabilizer controller to regulate the PVTOL aircraft. The non-measurable system velocities are recovered using a suitable exact differentiator observer, achieved through super-twisting based observer. The theorem of LaSalle, together with some tools from the cascade system theory, was used to carry out the closed-loop stability analysis. Using a suitable finite time-varying identificator, the obtained controllers were improved to compensate bounded, smooth, and matching perturbations. Numerical simulations were included to test the effectiveness of the obtained controller.

    Original languageEnglish
    Pages (from-to)511-524
    Number of pages14
    JournalJournal of Intelligent and Robotic Systems: Theory and Applications
    Volume98
    Issue number2
    DOIs
    StateAccepted/In press - 1 Jan 2019

    Keywords

    • Lyapunov method
    • Passivity based control
    • PVTOL aircraft
    • Super-twisting based observer

    Fingerprint Dive into the research topics of 'A Simple Approach to Regulate a PVTOL System Using Matching Conditions'. Together they form a unique fingerprint.

    Cite this