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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Vydané v:Journal of intelligent & robotic systems Ročník 98; číslo 2; s. 511 - 524
Hlavní autori: Aguilar-Ibanez, Carlos, Suarez-Castanon, Miguel S., Meda-Campaña, Jesus, Gutierrez-Frias, Octavio, Merlo-Zapata, Carlos, Martinez-Castro, Jesus A.
Médium: Journal Article
Jazyk:English
Vydavateľské údaje: Dordrecht Springer Netherlands 01.05.2020
Springer
Springer Nature B.V
Predmet:
Aircraft
Algorithms
Analysis
Artificial Intelligence
Closed loops
Computer simulation
Control
Control stability
Control theory
Controllers
Electrical Engineering
Energy
Energy methods
Engineering
Feedback
Matching
Mechanical Engineering
Mechatronics
Numerical analysis
Output feedback
Robotics
Stability analysis
System theory
Systems theory
Twisting
Unmanned aerial vehicles
Vertical landing
Vertical takeoff
Vertical takeoff aircraft
Super-twisting based observer
Lyapunov method
PVTOL aircraft
Passivity based control
ISSN:0921-0296, 1573-0409
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Shrnutí: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.
Bibliografia:ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 14
ISSN:0921-0296
1573-0409
DOI:10.1007/s10846-019-01087-x