Nested Saturation Control for Stabilizing the PVTOL Aircraft

Effect of Rotor Tilt on the Gust Rejection Properties of Multirotor Aircraft

“…A PVTOL aircraft is a simplified birotor aircraft model that is constrained to move only in the vertical plane. It is commonly used as a model for testing multirotor control concepts, e.g., [20]. Note that the idea of reducing the gust sensitivity by rotor tilt was also proposed by Otsuka and Nagatani [21] who conducted some experimental studies to measure the pitch/roll moment effect [22].…”

Ship deck landing of multi-rotor unmanned aerial vehicle

“…Since matrix A − LC is α 2 -stable, there exist P 2 = P T 2 > 0 such that (A − LC)P −1 2 + ( * ) + αP −1 2 + S 22 ≤ 0 by definition. Thereafter using the method of Shur complement, the inequality (6.26) is equivalent to (A + BK)P 1 + ( * ) 28) where R 1 = −BKP −1 2 +S 12 and Ξ 1 = (A−LC)P −1 2 +( * )+αP −1 2 +S 22 ≤ 0. By definition of α 2 -stable matrix A + BK, there exists P 1 = P T 1 > 0 such that (6.28) is satisfied since…”

“…28) where the term 2S(ω j )∆ω j represents the height contribution of the j th wave with a frequency of ω j and phase of j .The controlled output of the multi-rotor UAV ship deck landing model is the altitude error e with respect to a reference altitude H. This reference altitude is measured relative to the landing pad and is a time-decaying function that diminishes slowly to zero so as toachieve a smooth landing. Therefore, in terms of known parameters, the altitude error is expressed as e = h − d − H. (5.29) This tracking error dynamics becomes, e = v −d −Ḧ, (5.30) where the altitude dynamics is included.…”