ROBUST STABILIZATION OF NONLINEAR PVTOL AIRCRAFT WITH PARAMETER UNCERTAINTIES

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.