TY - JOUR
T1 - A Simple Approach to Regulate a PVTOL System Using Matching Conditions
AU - Aguilar-Ibanez, Carlos
AU - Suarez-Castanon, Miguel S.
AU - Meda-Campaña, Jesus
AU - Gutierrez-Frias, Octavio
AU - Merlo-Zapata, Carlos
AU - Martinez-Castro, Jesus A.
N1 - Publisher Copyright:
© 2019, Springer Nature B.V.
PY - 2020/5/1
Y1 - 2020/5/1
N2 - 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.
AB - 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.
KW - Lyapunov method
KW - PVTOL aircraft
KW - Passivity based control
KW - Super-twisting based observer
UR - http://www.scopus.com/inward/record.url?scp=85073990228&partnerID=8YFLogxK
U2 - 10.1007/s10846-019-01087-x
DO - 10.1007/s10846-019-01087-x
M3 - Artículo
AN - SCOPUS:85073990228
SN - 0921-0296
VL - 98
SP - 511
EP - 524
JO - Journal of Intelligent and Robotic Systems: Theory and Applications
JF - Journal of Intelligent and Robotic Systems: Theory and Applications
IS - 2
ER -