Priority altitude PVTOL aircraft control via immersion and invariance

Abstract

ABSTRACT In this work, the immersion and invariance (I&I) control technique is used in order to design a new controller that stabilises the PVTOL (planar vertical take-off and landing) aircraft system. The controller gives priority to the control of the aircraft's altitude before controlling the lateral displacement, fact from which interesting features as less thrust effort and less aggressive manoeuvres for roll moment are gained. The fundamental idea for the development of the proposed controller is based on the selection of the target dynamic system in accordance with the nature of the translational motion system to then stabilise the off-manifold dynamics by using the rotational motion system. It is proved that the proposed control scheme is globally asymptotically stable. Simulation results validate our proposal.