PVTOL control using feedback linearisation with dynamic extension

被引：15

作者：

Carino Escobar, Jossue ^{[1
]}

Lozano, Rogelio ^{[2
]}

Bonilla Estrada, Moises ^{[1
]}

机构：

[1] CINVESTAV, CNRS, IPN, Control Automat,UMI 3175, AP 14-740 0700, Mexico City, DF, Mexico

[2] Univ Technol Compiegne, Sorbonne Univ, Compiegne, France

来源：

INTERNATIONAL JOURNAL OF CONTROL | 2021年 / 94卷 / 07期

关键词：

PVTOL; feedback linearisation; UAV; nonlinear systems; GLOBAL STABILIZATION; SLIDING MODE; AIRCRAFT;

D O I：

10.1080/00207179.2019.1676468

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：1794 / 1803

页数：10

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