Output-feedback global stabilization of uncoupled PVTOL aircraft with bounded inputs

Arturo Zavala-Río (1) , Isabelle Fantoni (2)

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

An output-feedback scheme for the global stabilization of uncoupled PVTOL aircraft with bounded inputs is proposed. The control objective is achieved avoiding input saturation and through the exclusive consideration of system positions in the feedback. To cope with the lack of velocity measurements, the proposed algorithm involves a finite-time observer. With respect to previous approaches, the developed finite-timeobserver- based scheme guarantees the global stabilization objective disregarding velocity measurements in a bounded input context. Simulation results corroborate the analytical developments.

Domaines: Automatique / Robotique

Arturo Zavala-Río, Isabelle Fantoni. Output-feedback global stabilization of uncoupled PVTOL aircraft with bounded inputs. 6th International Scientific Conference on Physics and Control. (PHYSCON 2013), Aug 2013, San Luis Potosi, Mexico. ⟨hal-00861075⟩