An Alternative Nonlinear Control Law for the Global Stabilization of the PVTOL Vehicle

Author

Wood, Rohin ; Cazzolato, Ben

Author_Institution

Univ. of Adelaide, Adelaide

Volume

52

Issue

7

fYear

2007

fDate

7/1/2007 12:00:00 AM

Firstpage

1282

Lastpage

1287

Abstract

A popular method for the control of the planar vertical takeoff and landing vehicle (PVTOL) is to cast the system into the form of a cascade nonlinear system with an exponentially stable linear subsystem, as suggested by Olfati-Saber in 2002. This idea has since been incorporated into many other published works. The contribution of this note is to demonstrate an alternative cascade structure, achieved by minimizing the interconnection term between closed-loop subsystems. Global stability of the proposed controller is proven, and simulation results suggest improved performance of this new approach as compared to that previously published.

Keywords

aircraft control; asymptotic stability; cascade control; cascade systems; closed loop systems; linear systems; nonlinear control systems; cascade control; closed-loop subsystem; control design; exponentially stable linear subsystem; global stabilization; nonlinear control law; planar vertical takeoff-landing vehicle; Australia; Control systems; Design methodology; LAN interconnection; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Stability; Technological innovation; Vehicle dynamics; Cascade control; nonlinear control; planar vertical take- off and landing vehicle (PVTOL);

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/TAC.2007.900831

Filename

4268393