Robust Stabilization of Nonlinear PVTOL Aircraft with Parameter Uncertainties

Abstract

In this work, the stabilization control problem is investigated for the planar vertical take‐off and landing (PVTOL) aircraft with unknown model parameters. To cope with the challenges caused by non‐minimum phase and parametric uncertainties, a new appropriate output, different from the general centroid position output, is carefully constructed to ensure the zero dynamics asymptotically stable, then the sliding‐mode technique is applied to design a state feedback control law. The proposed robust control law is proved able to asymptotically stabilize the PVTOL aircraft to the desired fixed position with null velocities and roll angle despite the unknown model parameters. Simulation examples illustrate the effectiveness of the proposed control algorithm.

Stabilization of the planar vertical take‐off and landing using nonlinear feedback control

“…The control input ( 6) is basically composed of a nonlinear compensation of cos θ d , and a linear state feedback. If the control input u has to satisfy a lowerbound (u > 0) and an upperbound, we can replace the state feedback part on z and ż by saturation functions as in (16) such that the closed loop for the z dynamics will have the form given in (17) with D = 1. The corresponding values of k 1 and k 2 could then be used to reduce the size of the saturation functions in (16) as well as to reduce the upperbound of |θ d | in (9).…”

“…Nonlinear feedback linearization techniques to control the PVTOL have been developed in (6)(7)(8)(9)(10)(11)(12)(13). The sliding mode controller design has also been applied to the PVTOL in (14)(15)(16)(17). Furthermore, the backstepping approach has been used in (18)(19)(20)(21).…”

A Robust Control Scheme for a PVTOL System Subject to Wind Disturbances

“…e other action stabilizes the horizontal and angular variables to the desired rest position through an energy-control method, whereas Aguilar-Ibañez [16] employed again a feedback linearization with a saturation function to stabilize the vertical variable, while a PD-controller and a sliding-mode controller were used to stabilize both the horizontal and angular variables. Moreover, Yu-Chan et al [17] dealt with the stabilization of the PVTOL system with unknown model parameters by applying a slidingmode technique to design a state feedback control law. Recently, in [18], a controller for the stabilization of the PVTOL vehicle was designed on the basis of the immersion and invariance control technique.…”

Control of VTOL aircraft with position state constraints using the Barrier Lyapunov Function

“…In [3], the non-linear auxiliary approach is introduced to globally stabilize the overall closed-loop dynamics. Some researchers make use of the coordination transformation to simplify the VTOL model [4][5][6]. In [4], a novel coordination transformation is constructed to decouple the VTOL system and a smooth static state feedback stabilization controller is provided.…”

“…In [4], a novel coordination transformation is constructed to decouple the VTOL system and a smooth static state feedback stabilization controller is provided. In [6], the state transformation is inapplicable when the model parameters of VTOL are unknown. To solve this problem, a novel transformation and a minimum phase output are designed.…”