On global tracking control of a VTOL aircraft without velocity measurements

被引：81

作者：

Do, KD ^{[1
]}

Jiang, ZP

Pan, J

机构：

[1] Univ Western Australia, Sch Mech Engn, Nedlands, WA 6009, Australia

[2] Polytech Univ, Dept Elect & Comp Engn, Brooklyn, NY 11201 USA

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2003年 / 48卷 / 12期

基金：

美国国家科学基金会;

关键词：

backstepping; Lyapunov's direct method; output-feedback; vertical take-off and landing (VTOL);

D O I：

10.1109/TAC.2003.820148

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 note develops a nonlinear output-feedback controller to force a nonminimum phase, underactuated vertical take-off and landing aircraft to globally asymptotically. track a reference trajectory generated by a reference model. The control development is based on a global exponential observer, some global coordinate transformations, Lyapunov's direct method and an extension of the backstepping technique. Interestingly, the proposed methodology also yields new results for the previously studied problems of stabilization and output tracking or regulation. Numerical simulations illustrate the effectiveness of the proposed controller.

引用

页码：2212 / 2217

页数：6

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