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.
|Number of pages||14|
|Journal||Journal of Intelligent and Robotic Systems: Theory and Applications|
|State||Accepted/In press - 1 Jan 2019|
- Lyapunov method
- Passivity based control
- PVTOL aircraft
- Super-twisting based observer