Abstract:This paper studies the modeling and control of a Planar Vertical Take-Off and Landing (PVTOL) with steerable thruster. A longitudinal model is obtained using Newton’s second law for the PVTOL which evolves in 3 degrees of freedom and has two control inputs. The aerial vehicle is driven by steerable propulsion controlling its evolution in the vertical plane through the thrust and torque control inputs, which drive the vehicle body and generate a rotation. The obtained model is nonlinear and is significantly dif… Show more
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