Global stabilization of the PVTOL aircraft with lateral force coupling and bounded inputs

Daniela Juanita López-Araujo (1) , Arturo Zavala-Río (1) , Isabelle Fantoni (2) , Sergio Salazar (2) , Rogelio Lozano (2)

1 IPICYT - Instituto Potosino de Investigacion Cientifica y Tecnologica
2 Heudiasyc - Heuristique et Diagnostic des Systèmes Complexes [Compiègne]

This work is devoted to prove that the nonlinear control scheme previously proposed by the (2nd, 3rd, & 5th) authors for the global stabilization of the PVTOL aircraft with bounded inputs neglecting the lateral force coupling, is robust with respect to the parameter characterizing such a lateral force coupling, ε, as long as such a parameter takes small enough values. In other words, global stabilization is achieved even if ε> 0, provided that such a parameter be sufficiently small. As far as the authors are aware, such a property has not been proved in other existing control schemes when the value of ε is not known. The presented methodology is based on the use of embedded saturation functions. Furthermore, experimental results of the control algorithm implemented on a real prototype are presented.

Mots clés: PVTOL aircraft; global stabilisation; bounded inputs; saturations; nonlinear control; robustness

Domaines: Automatique / Robotique

Daniela Juanita López-Araujo, Arturo Zavala-Río, Isabelle Fantoni, Sergio Salazar, Rogelio Lozano. Global stabilization of the PVTOL aircraft with lateral force coupling and bounded inputs. International Journal of Control, 2010, 83 (7), pp.1427-1441. ⟨10.1080/00207171003758778⟩. ⟨hal-00503221⟩