Control Strategy using vision for the stabilization of the PVTOL aircraft

Isabelle Fantoni (1, 2, 3) , Amparo Palomino (1) , Pedro Castillo (1) , Rogelio Lozano (1, 4) , Claude Pégard (5)

1 Heudiasyc - Heuristique et Diagnostic des Systèmes Complexes [Compiègne]
2 LS2N - équipe ARMEN - Autonomie des Robots et Maîtrise des interactions avec l’ENvironnement
3 LS2N - Laboratoire des Sciences du Numérique de Nantes
4 LAFMIA - Laboratoire Franco-Mexicain d'Informatique et d'Automatique
5 CREA - Centre de Robotique, d'Electrotechnique et d'Automatique

In this chapter, we stabilize the planar vertical takeoff and landing (PVTOL) aircraft using a camera. The camera is used to measure the position and orientation of the PVTOL moving on an inclined plane. We have developed a simple control strategy to stabilize the system in order to facilitate the real experiments. The proposed control law ensures convergence of the state to the origin.

Mots clés: Close Loop System; Incline Plane; Rolling Moment; Nonminimum Phase; Small Gain Theorem

Domaines: Automatique

Isabelle Fantoni, Amparo Palomino, Pedro Castillo, Rogelio Lozano, Claude Pégard. Control Strategy using vision for the stabilization of the PVTOL aircraft. Menini, L., Zaccarian, L., Abdallah, C.T. Current trends in nonlinear systems and control, Birkhäuser, 2005, 0-8176-4383-4. ⟨10.1007/0-8176-4470-9_22⟩. ⟨hal-00449934⟩