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
StatePublished - 1 May 2020

Keywords

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

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