A prediction based controller for trajectories tracking and stabilization of a non-minimum phase PVTOL aircraft

Ahmed Chemori (1) , Nicolas Marchand (1)

1 LAG - Laboratoire d'automatique de Grenoble

In this paper a nonlinear prediction-based control approach is proposed for stabilization of Planar Vertical TakeOff and Landing (PVTOL) aircraft. This system has fewer control inputs than degrees of freedom (i.e. under-actuated) and has unstable zero dynamics (i.e. non-minimum phase). The proposed control approach is based on partial feedback linearization, which allows the emergence of a completely linearized subsystem and internal dynamics. Then prediction based optimal trajectories are proposed for the linearized variables, where the optimization objective is to enhance the behavior and the stability of the internal dynamics. Stability analysis of the closed-loop system is performed using a graphical tool based on Poincaré's section. The performance of the proposed scheme is illustrated through simulations.

Mots clés: PVTOL aircraft; Non-minimum phase; Internal dynamics; Nonlinear predictive control; Stabilization; Robustness

Domaines: Automatique / Robotique

Ahmed Chemori, Nicolas Marchand. A prediction based controller for trajectories tracking and stabilization of a non-minimum phase PVTOL aircraft. NMPCFS: Nonlinear Model Predictive Control for Fast Systems, Oct 2006, Grenoble, France. ⟨hal-00108453⟩