Abstract
In this study, a control scheme that allows performing height position regulation and stabilization for an unmanned planar vertical take-off and landing aerial vehicle, in the presence of disturbance due to wind, is presented. To this end, the backstepping procedure together with nested saturation function method is used. Firstly, a convenient change of coordinates in the aerial vehicle model is carried out to dissociate the rotational dynamics from the translational one. Secondly, the backstepping procedure is applied to obtain the height position controller, allowing the reduction of the system and expressing it as an integrator chain with nonlinear disturbance. Therefore, the nested saturation function method is used to obtain a stabilizing controller for the horizontal position and roll angle. The corresponding stability analysis is conducted via the Lyapunov second method. In addition, to estimate the disturbance due to wind, an extended state observer is used. The effectiveness of the proposed control scheme is assessed through numerical simulations, from which convincing results have been obtained.
Highlights
Introduction e Planar Vertical TakeOff and Landing (PVTOL) unmanned aerial vehicle is a representation of the Harrier Yab8b aircraft when considering a minimum of inputs and outputs to obtain a vertical short take-off and landing behavior [1], which has been used as a test bed for automatic control applications
A robust and linear state-feedback gainscheduled control to achieve hovering of a Planar Vertical TakeOff and Landing (PVTOL) system with uncertainties in the mass, the momentum of inertia, and the parasitic coupling parameter was introduced in [10], while a nested set stabilization approach to locally solve path following for the PVTOL system was introduced in [11]. e system center of mass was constrained to lie on the path, and the roll angle should be specified at any given point on the path
The outcomes of some numerical tests are presented in order to validate that the proposed control scheme successfully achieves that (x1, x2, y1, y2, θ1, θ2) ⟶ (0, 0, y1d, 0, 0, 0). at is, the control scheme carries out height position regulation, through performing trajectory tracking task, and stabilization of the horizontal position and roll angle for the PVTOL
Summary
Carlos Alejandro Merlo-Zapata, Carlos Aguilar-Ibanez ,2 Octavio Gutierrez-Frıas ,3 Mayra Antonio-Cruz ,4 Celso Marquez-Sanchez, and Miguel S. A control scheme that allows performing height position regulation and stabilization for an unmanned planar vertical take-off and landing aerial vehicle, in the presence of disturbance due to wind, is presented To this end, the backstepping procedure together with nested saturation function method is used. Aguilar-Ibanez et al [21] introduced an output-feedback regulation control law for a PVTOL aircraft, based on a version of the matching control energy method Such a control was improved to compensate bounded, smooth, and matching perturbations with a suitable finite time-varying identificator. En, from a set of convenient linear transformations, the system is represented as an integrator chain with a nonlinear perturbation, for which a nested saturation function-based controller is developed to stabilize the horizontal position and roll angle.
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