Abstract
This work proposes a simplified control method to stabilize the model of a nonlinear Planar Vertical Take-Off and Landing (PVTOL) system when a constant force is applied in the horizontal axis. Since the stability analysis is based on a Lyapunov function, exponential stability is guaranteed when the initial conditions fall inside a domain of attraction that is also specified. The performance of the suggested control algorithm is demonstrated using numerical simulations.
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