Robust global stabilizing bounded control of a PVTOL aircraft with lateral coupling
| Authors: | Zavala-Rio Arturo, Instituto Potosino de Investigacion Cientifica y Tecnologica, Mexico
Fantoni Isabelle, Université de Technologie de Compiègne, France
Salazar Sergio, Université de Technologie de Compiègne, France
Lozano Rogelio, Université de Technologie de Compiègne, France |
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| Topic: | 2.3 Non-Linear Control Systems |
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| Session: | Nonlinear Controller Design |
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| Keywords: | nonlinear control, aircraft control, bounded inputs, saturations |
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Abstract
This note provides a detailed stability analysis of a globalstabilizing control algorithm for a PVTOL aircraft with lateralcoupling ($\varepsilon \neq 0$) and bounded inputs. Such controlapproach was originally proposed considering $\varepsilon=0$. Theanalysis furnished here proves the robustness of the originalscheme with respect to the existence of lateral coupling. Thepresented methodology is based on the use of embedded saturationfunctions and a result of global asymptotic stabilization forcascade systems.
