Path following for the PVTOL aircraft

被引：70

作者：

Consolini, Luca ^{[2
]}

Maggiore, Manfredi ^{[1
]}

Nielsen, Christopher ^{[3
]}

Tosques, Mario ^{[4
]}

机构：

[1] Univ Toronto, Elect & Comp Engn Dept, Toronto, ON M5S 3G4, Canada

[2] Dipartimento Ingn Informaz, I-43100 Parma, Italy

[3] Univ Waterloo, Dept Elect & Comp Engn, Waterloo, ON N2L 3G1, Canada

[4] Dipartimento Ingn Civile, I-43100 Parma, Italy

来源：

AUTOMATICA | 2010年 / 46卷 / 08期

基金：

加拿大自然科学与工程研究理事会;

关键词：

Path following; Planar vertical take-off and landing aircraft; Set stabilization; Controlled invariant submanifolds; Path invariance; Hamiltonian dynamics; Transverse feedback linearization; Virtual holonomic constraints; Jordan curves; TRANSVERSE FEEDBACK LINEARIZATION; NONMINIMUM-PHASE SYSTEMS; VTOL AIRCRAFT; GLOBAL STABILIZATION; TIME STABILIZATION; NONLINEAR-SYSTEMS; OUTPUT TRACKING; CONTROL DESIGN; FLIGHT CONTROL; CONSTRAINTS;

D O I：

10.1016/j.automatica.2010.05.014

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This article presents a solution to the path following problem for the planar vertical take-off and landing aircraft (PVTOL) which is applicable to a class of smooth Jordan curves. Our path following methodology enjoys the two properties of output invariance of the path (i.e., if the PVTOL's centre of mass is initialized on the path and its initial velocity is tangent to the path, then the PVTOL remains on the path at all future times) and boundedness of the roll dynamics. Further, our controller guarantees that, after a finite time, the time average of the roll angle is zero, and the PVTOL does not perform multiple revolutions about its longitudinal axis. (C) 2010 Elsevier Ltd. All rights reserved.

引用

页码：1284 / 1296

页数：13

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