A Simple Approach to Regulate a PVTOL System Using Matching Conditions

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    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
    Issue number2
    StateAccepted/In press - 1 Jan 2019


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


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