PVTOL control using feedback linearisation with dynamic extension

The problem of controlling Unmanned Aerial Vehicles (UAV) can be simplified in some cases by designing a controller for the Vertical Take-off and Landing (PVTOL) platform and adapting it to other vehicles. This is one of the reasons there is such an abundant quantity of control algorithms for this platform. The control design used in this case is feedback linearisation, which is a nonlinear control technique that allows the PVTOL to be transformed into a linear system using a feedback function. The function used for the PVTOL does not expand through all the state space, as it presents a singularity. This work is focused on finding under what conditions it is possible to determine local asymptotic stability using a control based on feedback linearisation of the PVTOL platform that prevents the system from reaching any singularity due to the transformation of the function.