Global output-feedback tracking control of a VTOL aircraft

K. D. Do; Z. P. Jiang; J. Pan

doi:10.1109/CDC.2003.1272396

Global output-feedback tracking control of a VTOL aircraft

K. D. Do, Z. P. Jiang, J. Pan

Electrical and Computer Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper develops a nonlinear output-feedback controller to force a non-minimum phase, underactuated vertical take-off and landing (VTOL) aircraft to globally asymptotically track a reference trajectory generated by a reference model. The control development is based on a global exponential observer, some global coordinate transformations, Lyapunov's direct method and the popular backstepping technique. In addition, it is shown that our control design scheme can be extended to the case of control input saturation. Interestingly, the proposed methodology also yields new results for the previously studied problems of stabilization and output tracking or regulation. Numerical simulations illustrate the effectiveness of the proposed controller.

Original language	English (US)
Title of host publication	Proceedings of the IEEE Conference on Decision and Control
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4914-4919
Number of pages	6
ISBN (Print)	0780379241
DOIs	https://doi.org/10.1109/CDC.2003.1272396
State	Published - 2003
Event	42nd IEEE Conference on Decision and Control - Maui, HI, United States Duration: Dec 9 2003 → Dec 12 2003

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
Volume	5
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Other

Other	42nd IEEE Conference on Decision and Control
Country/Territory	United States
City	Maui, HI
Period	12/9/03 → 12/12/03

ASJC Scopus subject areas

Control and Systems Engineering
Modeling and Simulation
Control and Optimization

Access to Document

10.1109/CDC.2003.1272396

Cite this

Global output-feedback tracking control of a VTOL aircraft. / Do, K. D.; Jiang, Z. P.; Pan, J.
Proceedings of the IEEE Conference on Decision and Control. Institute of Electrical and Electronics Engineers Inc., 2003. p. 4914-4919 (Proceedings of the IEEE Conference on Decision and Control; Vol. 5).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Do, KD, Jiang, ZP & Pan, J 2003, Global output-feedback tracking control of a VTOL aircraft. in Proceedings of the IEEE Conference on Decision and Control. Proceedings of the IEEE Conference on Decision and Control, vol. 5, Institute of Electrical and Electronics Engineers Inc., pp. 4914-4919, 42nd IEEE Conference on Decision and Control, Maui, HI, United States, 12/9/03. https://doi.org/10.1109/CDC.2003.1272396

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abstract = "This paper develops a nonlinear output-feedback controller to force a non-minimum phase, underactuated vertical take-off and landing (VTOL) aircraft to globally asymptotically track a reference trajectory generated by a reference model. The control development is based on a global exponential observer, some global coordinate transformations, Lyapunov's direct method and the popular backstepping technique. In addition, it is shown that our control design scheme can be extended to the case of control input saturation. Interestingly, the proposed methodology also yields new results for the previously studied problems of stabilization and output tracking or regulation. Numerical simulations illustrate the effectiveness of the proposed controller.",

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AB - This paper develops a nonlinear output-feedback controller to force a non-minimum phase, underactuated vertical take-off and landing (VTOL) aircraft to globally asymptotically track a reference trajectory generated by a reference model. The control development is based on a global exponential observer, some global coordinate transformations, Lyapunov's direct method and the popular backstepping technique. In addition, it is shown that our control design scheme can be extended to the case of control input saturation. Interestingly, the proposed methodology also yields new results for the previously studied problems of stabilization and output tracking or regulation. Numerical simulations illustrate the effectiveness of the proposed controller.

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Global output-feedback tracking control of a VTOL aircraft

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