Fast convergent observer design for output feedback stabilisation of a planar vertical takeoff and landing aircraft

This paper explores the solution of using output feedback to stabilise a planar nonlinear model of a vertical take-off and landing (PVTOL) aircraft. We first construct a state feedback stabiliser by utilising the technique of finite-time convergent control. To address the lack of full state measurement, we design a fast convergent observer which recovers the unknown states in a finite time and thus enables the output feedback controller to stabilise the system. The finite-time convergent observer proposed in this paper is unique due to the fact that the estimated states converge rapidly to the real states regardless of the distances between them.