Global stabilisation of the PVTOL aircraft with lateral force coupling and bounded inputs
López Araujo, Daniela Juanita
Zavala Río, Arturo
"This work is devoted to prove that the nonlinear control scheme previously proposed by Zavala-Río, Fantoni and Lozano for the global stabilisation of the planar vertical take-off and landing (PVTOL) aircraft with bounded inputs neglecting the lateral force coupling is robust with respect to the parameter characterising such a lateral force coupling, ϵ, as long as such a parameter takes small enough values. In other words, global stabilisation is achieved even if ϵ > 0, provided that such a parameter be sufficiently small. As far as the authors are aware, such a property has not been proved in other existing control schemes when the value of ϵ is not known. The presented methodology is based on the use of embedded saturation functions. Furthermore, experimental results of the control algorithm implemented on a real prototype are presented."
PublisherTaylor & Francis LTD
EditorTaylor & Francis
CitationD.J. López-Araujo, A. Zavala-Río, I. Fantoni, S. Salazar & R. Lozano (2010) Global stabilisation of the PVTOL aircraft with lateral force coupling and bounded inputs, International Journal of Control, 83:7, 1427-1441, DOI: 10.1080/00207171003758778
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