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Publications

An Alternative Nonlinear Control Law for the Global Stabilization of the PVTOL Vehicle

Rohin Wood, Ben S. Cazzolato (2007)

IEEE Transactions on Automatic Control, 52 (7), July, p1282-1287
DOI: 10.1109/TAC.2007.900831

Abstract:

A popular method for the control of a Planar Vertical Take-Off and Landing vehicle (PVTOL) is to cast the system into the form of a cascade nonlinear system with an exponentially stable linear subsystem, as introduced in [1]. This idea has since been incorporated into many other published works. The contribution of this note is to demonstrate a more optimal cascade structure, achieved by minimising the interconnection term between subsystems. Global stability of the proposed controller is proven, and simulation results demonstrate the superiority of this new approach over that previously published.

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