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Partial linearization of the PVTOL aircraft with internal stability

Vincent Léchappé 1 Yannick Aoustin 1 L. Marquez Martinez 2 Claude Moog 1
1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
2 CICESE - Centro de Investigacion Cientifica y de Education Superior de Ensenada [Mexico]
Abstract : The planar vertical take-off and landing (PVTOL) aircraft is worked out by inspecting the various feedback linearization solutions. Partial linearizations of the state space are performed, which ensure the stability of the associated internal dynamics. The results are obtained through the search of dummy outputs with a 0-dimensional, 1-dimensional or 2-dimensional zero-dynamics that are stable.
Keywords : MIMO underactuated non-minimum phase zero-dynamics internal dynamics algebraic method partial linearization nonlinear stabilization PVTOL
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https://hal.archives-ouvertes.fr/hal-00858102
Contributor : Vincent Léchappé <>
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Vincent Léchappé, Yannick Aoustin, L. Marquez Martinez, Claude Moog. Partial linearization of the PVTOL aircraft with internal stability. 52nd Conference on Decision and Control, Dec 2013, Florence, Italy. ⟨10.1109/CDC.2013.6760268⟩. ⟨hal-00858102⟩

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