On Global Tracking Control of a VTOL Aircraft without Velocity Measurements

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

doi:10.1109/TAC.2003.820148

On Global Tracking Control of a VTOL Aircraft without Velocity Measurements

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

Electrical and Computer Engineering

Research output: Contribution to journal › Article › peer-review

Abstract

This note develops a nonlinear output-feedback controller to force a nonminimum phase, underactuated vertical take-off and landing 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 an extension of the backstepping technique. 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)
Pages (from-to)	2212-2217
Number of pages	6
Journal	IEEE Transactions on Automatic Control
Volume	48
Issue number	12
DOIs	https://doi.org/10.1109/TAC.2003.820148
State	Published - Dec 2003

Keywords

Backstepping
Lyapunov's direct method
Output-feedback
Vertical take-off and landing (VTOL)

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

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10.1109/TAC.2003.820148

Cite this

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title = "On Global Tracking Control of a VTOL Aircraft without Velocity Measurements",

abstract = "This note develops a nonlinear output-feedback controller to force a nonminimum phase, underactuated vertical take-off and landing 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 an extension of the backstepping technique. 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.",

keywords = "Backstepping, Lyapunov's direct method, Output-feedback, Vertical take-off and landing (VTOL)",

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N2 - This note develops a nonlinear output-feedback controller to force a nonminimum phase, underactuated vertical take-off and landing 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 an extension of the backstepping technique. 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.

AB - This note develops a nonlinear output-feedback controller to force a nonminimum phase, underactuated vertical take-off and landing 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 an extension of the backstepping technique. 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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On Global Tracking Control of a VTOL Aircraft without Velocity Measurements

Abstract

Keywords

ASJC Scopus subject areas

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