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...

Full description

Saved in:
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
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
cited_by cdi_FETCH-LOGICAL-c358t-6a86d24d400567aedb106b852e63ce32627eca40e66c8f1c7dfcf63722adc2903
cites cdi_FETCH-LOGICAL-c358t-6a86d24d400567aedb106b852e63ce32627eca40e66c8f1c7dfcf63722adc2903
container_end_page 524
container_issue 2
container_start_page 511
container_title Journal of intelligent & robotic systems
container_volume 98
creator Aguilar-Ibanez, Carlos
Suarez-Castanon, Miguel S.
Meda-Campaña, Jesus
Gutierrez-Frias, Octavio
Merlo-Zapata, Carlos
Martinez-Castro, Jesus A.
description 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.
doi_str_mv 10.1007/s10846-019-01087-x
format article
fullrecord <record><control><sourceid>gale_proqu</sourceid><recordid>TN_cdi_proquest_journals_2285413838</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><galeid>A725560057</galeid><sourcerecordid>A725560057</sourcerecordid><originalsourceid>FETCH-LOGICAL-c358t-6a86d24d400567aedb106b852e63ce32627eca40e66c8f1c7dfcf63722adc2903</originalsourceid><addsrcrecordid>eNp9kN9LwzAQx4MoOKf_gE8BnzsvSZukj2U4FSYTt_kasjTtOtYfJh1s_72ZFXyT47jjuM_dly9C9wQmBEA8egIy5hGQNCRIER0v0IgkgkUQQ3qJRpBSEgFN-TW68X4HAKlM0hGaZXhZ1d3e4qzrXKvNFvct_rDlYa97izV-_1wt5nh58r2t8dpXTYnfdG-252baNnnVV23jb9FVoffe3v3WMVrPnlbTl2i-eH6dZvPIsET2EdeS5zTOY4CEC23zDQG-kQm1nBnLKKfCGh2D5dzIghiRF6bgTFCqc0NTYGP0MNwNWr8O1vdq1x5cE14qSmUSEyZDjNFk2Cr13qqqKdreaRMit3Vl2sYWVZhngiYJD0pEAOgAGNd672yhOlfV2p0UAXU2WA0Gq2Cw-jFYHQPEBsiH5aa07k_LP9Q3yNp8uQ</addsrcrecordid><sourcetype>Aggregation Database</sourcetype><iscdi>true</iscdi><recordtype>article</recordtype><pqid>2285413838</pqid></control><display><type>article</type><title>A Simple Approach to Regulate a PVTOL System Using Matching Conditions</title><source>Springer Nature</source><creator>Aguilar-Ibanez, Carlos ; Suarez-Castanon, Miguel S. ; Meda-Campaña, Jesus ; Gutierrez-Frias, Octavio ; Merlo-Zapata, Carlos ; Martinez-Castro, Jesus A.</creator><creatorcontrib>Aguilar-Ibanez, Carlos ; Suarez-Castanon, Miguel S. ; Meda-Campaña, Jesus ; Gutierrez-Frias, Octavio ; Merlo-Zapata, Carlos ; Martinez-Castro, Jesus A.</creatorcontrib><description>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.</description><identifier>ISSN: 0921-0296</identifier><identifier>EISSN: 1573-0409</identifier><identifier>DOI: 10.1007/s10846-019-01087-x</identifier><language>eng</language><publisher>Dordrecht: Springer Netherlands</publisher><subject>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</subject><ispartof>Journal of intelligent &amp; robotic systems, 2020-05, Vol.98 (2), p.511-524</ispartof><rights>Springer Nature B.V. 2019</rights><rights>COPYRIGHT 2020 Springer</rights><rights>Springer Nature B.V. 2019.</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c358t-6a86d24d400567aedb106b852e63ce32627eca40e66c8f1c7dfcf63722adc2903</citedby><cites>FETCH-LOGICAL-c358t-6a86d24d400567aedb106b852e63ce32627eca40e66c8f1c7dfcf63722adc2903</cites><orcidid>0000-0003-3925-2435</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><link.rule.ids>314,780,784,27924,27925</link.rule.ids></links><search><creatorcontrib>Aguilar-Ibanez, Carlos</creatorcontrib><creatorcontrib>Suarez-Castanon, Miguel S.</creatorcontrib><creatorcontrib>Meda-Campaña, Jesus</creatorcontrib><creatorcontrib>Gutierrez-Frias, Octavio</creatorcontrib><creatorcontrib>Merlo-Zapata, Carlos</creatorcontrib><creatorcontrib>Martinez-Castro, Jesus A.</creatorcontrib><title>A Simple Approach to Regulate a PVTOL System Using Matching Conditions</title><title>Journal of intelligent &amp; robotic systems</title><addtitle>J Intell Robot Syst</addtitle><description>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.</description><subject>Aircraft</subject><subject>Analysis</subject><subject>Artificial Intelligence</subject><subject>Computer simulation</subject><subject>Control</subject><subject>Control stability</subject><subject>Control theory</subject><subject>Controllers</subject><subject>Electrical Engineering</subject><subject>Engineering</subject><subject>Matching</subject><subject>Mechanical Engineering</subject><subject>Mechatronics</subject><subject>Numerical analysis</subject><subject>Output feedback</subject><subject>Robotics</subject><subject>Stability analysis</subject><subject>System theory</subject><subject>Systems theory</subject><subject>Twisting</subject><subject>Vertical landing</subject><subject>Vertical takeoff</subject><issn>0921-0296</issn><issn>1573-0409</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2020</creationdate><recordtype>article</recordtype><recordid>eNp9kN9LwzAQx4MoOKf_gE8BnzsvSZukj2U4FSYTt_kasjTtOtYfJh1s_72ZFXyT47jjuM_dly9C9wQmBEA8egIy5hGQNCRIER0v0IgkgkUQQ3qJRpBSEgFN-TW68X4HAKlM0hGaZXhZ1d3e4qzrXKvNFvct_rDlYa97izV-_1wt5nh58r2t8dpXTYnfdG-252baNnnVV23jb9FVoffe3v3WMVrPnlbTl2i-eH6dZvPIsET2EdeS5zTOY4CEC23zDQG-kQm1nBnLKKfCGh2D5dzIghiRF6bgTFCqc0NTYGP0MNwNWr8O1vdq1x5cE14qSmUSEyZDjNFk2Cr13qqqKdreaRMit3Vl2sYWVZhngiYJD0pEAOgAGNd672yhOlfV2p0UAXU2WA0Gq2Cw-jFYHQPEBsiH5aa07k_LP9Q3yNp8uQ</recordid><startdate>20200501</startdate><enddate>20200501</enddate><creator>Aguilar-Ibanez, Carlos</creator><creator>Suarez-Castanon, Miguel S.</creator><creator>Meda-Campaña, Jesus</creator><creator>Gutierrez-Frias, Octavio</creator><creator>Merlo-Zapata, Carlos</creator><creator>Martinez-Castro, Jesus A.</creator><general>Springer Netherlands</general><general>Springer</general><general>Springer Nature B.V</general><scope>AAYXX</scope><scope>CITATION</scope><scope>3V.</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>7XB</scope><scope>8AL</scope><scope>8FD</scope><scope>8FE</scope><scope>8FG</scope><scope>8FK</scope><scope>ABJCF</scope><scope>ABUWG</scope><scope>AFKRA</scope><scope>ARAPS</scope><scope>AZQEC</scope><scope>BENPR</scope><scope>BGLVJ</scope><scope>CCPQU</scope><scope>DWQXO</scope><scope>FR3</scope><scope>GNUQQ</scope><scope>HCIFZ</scope><scope>JQ2</scope><scope>K7-</scope><scope>L6V</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><scope>M0N</scope><scope>M7S</scope><scope>P5Z</scope><scope>P62</scope><scope>PQEST</scope><scope>PQQKQ</scope><scope>PQUKI</scope><scope>PRINS</scope><scope>PTHSS</scope><scope>Q9U</scope><orcidid>https://orcid.org/0000-0003-3925-2435</orcidid></search><sort><creationdate>20200501</creationdate><title>A Simple Approach to Regulate a PVTOL System Using Matching Conditions</title><author>Aguilar-Ibanez, Carlos ; Suarez-Castanon, Miguel S. ; Meda-Campaña, Jesus ; Gutierrez-Frias, Octavio ; Merlo-Zapata, Carlos ; Martinez-Castro, Jesus A.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c358t-6a86d24d400567aedb106b852e63ce32627eca40e66c8f1c7dfcf63722adc2903</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2020</creationdate><topic>Aircraft</topic><topic>Analysis</topic><topic>Artificial Intelligence</topic><topic>Computer simulation</topic><topic>Control</topic><topic>Control stability</topic><topic>Control theory</topic><topic>Controllers</topic><topic>Electrical Engineering</topic><topic>Engineering</topic><topic>Matching</topic><topic>Mechanical Engineering</topic><topic>Mechatronics</topic><topic>Numerical analysis</topic><topic>Output feedback</topic><topic>Robotics</topic><topic>Stability analysis</topic><topic>System theory</topic><topic>Systems theory</topic><topic>Twisting</topic><topic>Vertical landing</topic><topic>Vertical takeoff</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Aguilar-Ibanez, Carlos</creatorcontrib><creatorcontrib>Suarez-Castanon, Miguel S.</creatorcontrib><creatorcontrib>Meda-Campaña, Jesus</creatorcontrib><creatorcontrib>Gutierrez-Frias, Octavio</creatorcontrib><creatorcontrib>Merlo-Zapata, Carlos</creatorcontrib><creatorcontrib>Martinez-Castro, Jesus A.</creatorcontrib><collection>CrossRef</collection><collection>ProQuest Central (Corporate)</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics &amp; Communications Abstracts</collection><collection>Mechanical &amp; Transportation Engineering Abstracts</collection><collection>ProQuest Central (purchase pre-March 2016)</collection><collection>Computing Database (Alumni Edition)</collection><collection>Technology Research Database</collection><collection>ProQuest SciTech Collection</collection><collection>ProQuest Technology Collection</collection><collection>ProQuest Central (Alumni) (purchase pre-March 2016)</collection><collection>Materials Science &amp; Engineering Collection</collection><collection>ProQuest Central (Alumni)</collection><collection>ProQuest Central</collection><collection>Advanced Technologies &amp; Aerospace Database‎ (1962 - current)</collection><collection>ProQuest Central Essentials</collection><collection>AUTh Library subscriptions: ProQuest Central</collection><collection>Technology Collection</collection><collection>ProQuest One Community College</collection><collection>ProQuest Central</collection><collection>Engineering Research Database</collection><collection>ProQuest Central Student</collection><collection>SciTech Premium Collection</collection><collection>ProQuest Computer Science Collection</collection><collection>Computer science database</collection><collection>ProQuest Engineering Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts – Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><collection>Computing Database</collection><collection>Engineering Database</collection><collection>ProQuest advanced technologies &amp; aerospace journals</collection><collection>ProQuest Advanced Technologies &amp; Aerospace Collection</collection><collection>ProQuest One Academic Eastern Edition (DO NOT USE)</collection><collection>ProQuest One Academic</collection><collection>ProQuest One Academic UKI Edition</collection><collection>ProQuest Central China</collection><collection>Engineering collection</collection><collection>ProQuest Central Basic</collection><jtitle>Journal of intelligent &amp; robotic systems</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Aguilar-Ibanez, Carlos</au><au>Suarez-Castanon, Miguel S.</au><au>Meda-Campaña, Jesus</au><au>Gutierrez-Frias, Octavio</au><au>Merlo-Zapata, Carlos</au><au>Martinez-Castro, Jesus A.</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>A Simple Approach to Regulate a PVTOL System Using Matching Conditions</atitle><jtitle>Journal of intelligent &amp; robotic systems</jtitle><stitle>J Intell Robot Syst</stitle><date>2020-05-01</date><risdate>2020</risdate><volume>98</volume><issue>2</issue><spage>511</spage><epage>524</epage><pages>511-524</pages><issn>0921-0296</issn><eissn>1573-0409</eissn><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.</abstract><cop>Dordrecht</cop><pub>Springer Netherlands</pub><doi>10.1007/s10846-019-01087-x</doi><tpages>14</tpages><orcidid>https://orcid.org/0000-0003-3925-2435</orcidid></addata></record>
fulltext fulltext
identifier ISSN: 0921-0296
ispartof Journal of intelligent & robotic systems, 2020-05, Vol.98 (2), p.511-524
issn 0921-0296
1573-0409
language eng
recordid cdi_proquest_journals_2285413838
source Springer Nature
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
title A Simple Approach to Regulate a PVTOL System Using Matching Conditions
url http://sfxeu10.hosted.exlibrisgroup.com/loughborough?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2024-12-26T22%3A17%3A38IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-gale_proqu&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.genre=article&rft.atitle=A%20Simple%20Approach%20to%20Regulate%20a%20PVTOL%20System%20Using%20Matching%20Conditions&rft.jtitle=Journal%20of%20intelligent%20&%20robotic%20systems&rft.au=Aguilar-Ibanez,%20Carlos&rft.date=2020-05-01&rft.volume=98&rft.issue=2&rft.spage=511&rft.epage=524&rft.pages=511-524&rft.issn=0921-0296&rft.eissn=1573-0409&rft_id=info:doi/10.1007/s10846-019-01087-x&rft_dat=%3Cgale_proqu%3EA725560057%3C/gale_proqu%3E%3Cgrp_id%3Ecdi_FETCH-LOGICAL-c358t-6a86d24d400567aedb106b852e63ce32627eca40e66c8f1c7dfcf63722adc2903%3C/grp_id%3E%3Coa%3E%3C/oa%3E%3Curl%3E%3C/url%3E&rft_id=info:oai/&rft_pqid=2285413838&rft_id=info:pmid/&rft_galeid=A725560057&rfr_iscdi=true