Global output-feedback tracking control of a VTOL aircraft

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

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish (US)
Title of host publicationProceedings of the IEEE Conference on Decision and Control
Pages4914-4919
Number of pages6
DOIs
StatePublished - 2003
Event42nd IEEE Conference on Decision and Control - Maui, HI, United States
Duration: Dec 9 2003Dec 12 2003

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume5
ISSN (Print)0191-2216

Other

Other42nd IEEE Conference on Decision and Control
CountryUnited States
CityMaui, HI
Period12/9/0312/12/03

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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