Global stabilization of the PVTOL aircraft with lateral coupling and bounded inputs.
López Araujo, Daniela Juanita
This thesis focuses on the global stabilization of the Planar Vertical Take-O and Landing (PVTOL) aircraft. Such a system has a complex dynamics that renders di cult the design of controllers oriented to solve the global stabilization problem. This is mainly due to its under-actuated nature. In addition, other limitations are considered in this study: the positive (unidirectional) character of the thrust and the bounded nature of the inputs. A rst approach that solves the global stabilization problem, taking the mentioned restrictions into account, was proposed by A. Zavala-R o, I. Fantoni, and R. Lozano in 2003; however the lateral coupling parameter was neglected due to the small value that it usually has in practice, simplifying the system dynamics. Nevertheless the simulation results that were performed to corroborate the e ciency of the proposed scheme, show that the control objective is achieved even taking positive values of. On the other hand, recent works have proposed solutions to the global stabilization problem considering the whole system dynamics, but they depend on the exact knowledge of. Thus, in this thesis, it is analytically proved that the control scheme initially proposed by A. Zavala-R o, I. Fantoni, and R. Lozano in 2003 under the above mentioned input restrictions, considering = 0, achieves the global stabilization objective even when, provided that is small enough but without the need to know its exact value.
Fecha de publicación2008
Tipo de publicaciónTesis
DirectorZavala Río, Arturo
Tesis y disertaciones académicas
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