TY - GEN
T1 - PVTOL Control
T2 - International Conference on Mechatronics, Electronics, and Automotive Engineering, ICMEAE 2015
AU - Aguilar-Ibanez, Carlos
AU - Sossa-Azuela, Humberto
AU - Suarez-Castanon, Miguel S.
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015
Y1 - 2015
N2 - A control design to solve the regulation problem for a simplified PVTOL system strongly coupled is introduced in this paper. The proposed method is divided in two simultaneous control actions: the first one helps to stabilize the vertical position while the second one is used to do the same both the horizontal position and the angle. While the first controller uses a simple feedback-linearization by using saturation functions that assign a quasi-linear behaviour of the vertical movement, the second controller is based on a suitable backstepping procedure, which is developed to force the remaining variables to converge to the origin. Performance is tested by numerical simulations while convergence analysis is based on Lyapunov's method.
AB - A control design to solve the regulation problem for a simplified PVTOL system strongly coupled is introduced in this paper. The proposed method is divided in two simultaneous control actions: the first one helps to stabilize the vertical position while the second one is used to do the same both the horizontal position and the angle. While the first controller uses a simple feedback-linearization by using saturation functions that assign a quasi-linear behaviour of the vertical movement, the second controller is based on a suitable backstepping procedure, which is developed to force the remaining variables to converge to the origin. Performance is tested by numerical simulations while convergence analysis is based on Lyapunov's method.
KW - Backstepping procedure
KW - Feedback-linearization
KW - PVTOL system
KW - Saturation functions
UR - http://www.scopus.com/inward/record.url?scp=84964388996&partnerID=8YFLogxK
U2 - 10.1109/ICMEAE.2015.44
DO - 10.1109/ICMEAE.2015.44
M3 - Contribución a la conferencia
AN - SCOPUS:84964388996
T3 - Proceedings - 2015 International Conference on Mechatronics, Electronics, and Automotive Engineering, ICMEAE 2015
SP - 93
EP - 98
BT - Proceedings - 2015 International Conference on Mechatronics, Electronics, and Automotive Engineering, ICMEAE 2015
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 24 November 2015 through 27 November 2015
ER -