A Simple Approach to Regulate a PVTOL System Using Matching Conditions

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© 2019, Springer Nature B.V. 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.
Idioma originalInglés estadounidense
Páginas (desde-hasta)511-524
Número de páginas14
PublicaciónJournal of Intelligent and Robotic Systems: Theory and Applications
EstadoPublicada - 1 may 2020


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