A Lyapunov Function Based Nonlinear Controller Design for PVTOL Aircraft

被引：0

作者：

Subasi, Evren ^{[1
]}

Turker, Turker ^{[1
]}

机构：

[1] Yildiz Tech Univ, Dept Control & Automat Engn, Istanbul, Turkey

来源：

2018 23RD INTERNATIONAL CONFERENCE ON METHODS & MODELS IN AUTOMATION & ROBOTICS (MMAR) | 2018年

关键词：

PVTOL; nonlinear control; GLOBAL STABILIZATION; SYSTEMS;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

An alternative stabilization procedure based on a Lyapunov function is presented for PVTOL aircraft. The rotational dynamics of the aircraft is represented with complex numbers, and the controller design procedure is given based on this model. Almost global asymptotic stability of the desired position for the aircraft is shown with a Lyapunov function and by the utilization of LaSalle's invariant set principle. The performance of the developed controller is tested via numerical simulations and the results are presented.

引用

页码：668 / 673

页数：6

共 17 条

[1] Interconnection and damping assignment passivity-based control of mechanical systems with underactuation degree one
Acosta, JA
Ortega, R
Astolfi, A
Mahindrakar, AD
[J]. IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2005, 50 (12) : 1936 - 1955
[2] Aguilar-Ibanez C., J INTELLIGENT ROBOTI, P1
[3] Stabilization of the PVTOL aircraft based on a sliding mode and a saturation function
Aguilar-Ibanez, Carlos
[J]. INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 2017, 27 (05) : 843 - 859
[4] ROBUST STABILIZATION OF NONLINEAR PVTOL AIRCRAFT WITH PARAMETER UNCERTAINTIES
Chen Yu-Chan
Ma Bao-Li
Xie Wen-Jing
[J]. ASIAN JOURNAL OF CONTROL, 2017, 19 (03) : 1239 - 1249
[5] Chen YC, 2016, 2016 IEEE CHINESE GUIDANCE, NAVIGATION AND CONTROL CONFERENCE (CGNCC), P246, DOI 10.1109/CGNCC.2016.7828792
[6] Fantoni Isabelle, 2002, Non-linear Control for Underactuated Mechanical Systems
[7] A Lie-Backlund approach to equivalence and flatness of nonlinear systems
Fliess, M
Lévine, J
Martin, P
Rouchon, P
[J]. IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1999, 44 (05) : 922 - 937
[8] NONLINEAR CONTROL DESIGN FOR SLIGHTLY NONMINIMUM PHASE SYSTEMS - APPLICATION TO V/STOL AIRCRAFT
HAUSER, J
SASTRY, S
MEYER, G
[J]. AUTOMATICA, 1992, 28 (04) : 665 - 679
[9] Robust hovering control of a PVTOL aircraft
Lin, F
Zhang, W
Brandt, RD
[J]. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 1999, 7 (03) : 343 - 351
[10] Global configuration stabilization for the VTOL aircraft with strong input coupling
Olfati-Saber, R
[J]. IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2002, 47 (11) : 1949 - 1952

← 1 2 →