Global Stabilization of the PVTOL: Real-Time Application to a Mini-Aircraft

Lozano, Rogelio; Castillo, Pedro; Dzul, A.

doi:10.1016/s1474-6670(17)30474-3

Cited by 39 publications

(45 citation statements)

References 9 publications

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“…For this goal, a suitable controller u 1 is proposed on the basin ideas found in [16]. The task of this controller consists of making the dynamics of q 2 and p 2 behave as if they were a quasilinear second-order linear system.…”

Section: Solving the Pvtol Regulation Control Problemmentioning

confidence: 99%

“…Teel introduced in [29], using a small gain theorem, a strategy to solve the control regulation problem for a PVTOL system. Several control strategies to assure global asymptotic stability were successfully developed in [6,16,31,33]. A considerable number of solutions for the trajectory tracking problem can be found in the literature, for instance [2,8,19,20,32] .…”

Section: Introductionmentioning

confidence: 99%

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A backstepping-based procedure with saturation functions to control the PVTOL system

2015

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In this study, we present a control strategy to solve the regulation problem for a simplified version of a PVTOL system strongly coupled. The strategy is split into two control actions that act simultaneously: one stabilizes asymptotically the vertical position; the other stabilizes both the horizontal and the angle positions. The first controller uses a simple feedback linearization procedure in conjunction with a saturation function. This controller assigns a quasilinear behavior to the vertical displacement. The second controller is based on a suitable backstepping procedure, and its task is to force the remaining variables converge asymptotically to the origin. In short, the resulting control is a nonlinear state feedback, whose performance is demonstrated by numerical simulations. The convergence analysis, based on the Lyapunov method, turned out to be quite simple if compared to other control methods found in the literature.

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Section: Solving the Pvtol Regulation Control Problemmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A backstepping-based procedure with saturation functions to control the PVTOL system

2015

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“…The design procedure is similar to reference [1], but the convergence analysis does not depend upon the small gain theory, and the control law is not in a nested form when using saturation.…”

Section: Stabilization Of the Pvtol Aircraftmentioning

confidence: 99%

New stabilization design for planar vertical take-off and landing aircrafts

Sheng

Gui

et al. 2011

J. Control Theory Appl.

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This paper presents a new stabilizing control law for a planar vertical take-off and landing aircraft. The model is first transformed into an equivalent form, and then a control law consisting of a linear term and a saturated term is given for a related subsystem, with the saturation levels being assigned as large as possible. Compared to the existing saturation scheme in which all states are restricted by saturations, the design brings about a relatively fast convergence. The effectiveness and advantage of the design are validated by numerical simulations.

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“…The quadrotors, has been studied recently by some authors [14], [8], [2], [15], [16], [11], [20], [3], [4], [1], [6], [12], [17], [10], [13], [9], [18], [7], [5]. These systems as many other dynamic systems, present constant or slowly-varying uncertain parameters, but these authors do not take into account the faults affecting the actuators and sensors of our system, wich makes them very limited and induces undesired behavior of quadrotor, or even to instability of the latter after occurence of actuator and sensor faults.…”

Section: Introductionmentioning

confidence: 99%

Robust Stabilization Of A Quadrotor Uav In Presence Of Actuator And Sensor Faults

Khebbache¹

2012

IJICS

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This paper deals with the stabilization problem of an underactuated quadrotor UAV system in presence of actuator and sensor faults. The dynamical model of quadrotor while taking into account various physical phenomena, which can influence the dynamics of a flying structure is presented. Subsequently, a new control strategy based on backstepping approach, taking into account the actuator and sensor faults is developed. Lyapunov based stability analysis shows that the proposed control strategy design keeps the stability of the closed loop dynamics of quadrotor UAV even after the presence of these faults.Simulations of the controlled system, illustrate that the proposed control strategy is able to maintain performance levels and to preserve stability under the occurrence of actuator and sensor faults.

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Global Stabilization of the PVTOL: Real-Time Application to a Mini-Aircraft

Cited by 39 publications

References 9 publications

A backstepping-based procedure with saturation functions to control the PVTOL system

A backstepping-based procedure with saturation functions to control the PVTOL system

New stabilization design for planar vertical take-off and landing aircrafts

Robust Stabilization Of A Quadrotor Uav In Presence Of Actuator And Sensor Faults

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