A Simple Approach to Regulate a PVTOL System Using Matching Conditions

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 stabiliz...

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Bibliographic Details
Published in:Journal of intelligent & robotic systems 2020-05, Vol.98 (2), p.511-524
Main Authors: Aguilar-Ibanez, Carlos, Suarez-Castanon, Miguel S., Meda-Campaña, Jesus, Gutierrez-Frias, Octavio, Merlo-Zapata, Carlos, Martinez-Castro, Jesus A.
Format: Article
Language:English
Subjects:
Aircraft
Analysis
Artificial Intelligence
Computer simulation
Control
Control stability
Control theory
Controllers
Electrical Engineering
Engineering
Matching
Mechanical Engineering
Mechatronics
Numerical analysis
Output feedback
Robotics
Stability analysis
System theory
Systems theory
Twisting
Vertical landing
Vertical takeoff
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Summary: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.
ISSN:0921-0296
1573-0409
DOI:10.1007/s10846-019-01087-x