Approximate trajectory tracking of input-disturbed PVTOL aircraft with delayed attitude measurements

被引：26
|
作者：
Zhu, Bo [1 ]
Wang, Xinhua [1 ]
Cai, Kai-Yuan [1 ]
机构：
[1] Beihang Univ, Sch Automat Sci & Elect Engn, Natl Key Lab Sci & Technol Integrated Control, Beijing 100191, Peoples R China
来源：
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL | 2010年 / 20卷 / 14期
关键词：
planar vertical take-off and landing (PVTOL) aircraft; measurement delay; non-minimum phase; output tracking; input disturbances; sliding mode control; Pade approximation; NONMINIMUM-PHASE SYSTEMS; STATE-FEEDBACK-CONTROL; OUTPUT TRACKING; DESIGN;
D O I：
10.1002/rnc.1536
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we address the flight-trajectory tracking problem of an input-disturbed planar vertical take-off and landing (PVTOL) aircraft with delayed attitude measurements. By applying the first-order Pade approximation to deal with the time delay functions, the problem is reduced to the output tracking of a new non-minimum-phase system without delay. A tracking controller, consisting of a linear static-state feedback term, a switching control term and a nonlinear auxiliary input term, is proposed for robust stabilization of the output-tracking errors together with the internal dynamics. Numerical simulations are performed to show the main results. Copyright (C) 2009 John Wiley & Sons, Ltd.
引用
收藏
页码：1610 / 1621
页数：12
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