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Zhu, Bo; Wang, Xinhua; Cai, Kai-Yuan

Approximate trajectory tracking of input-disturbed PVTOL aircraft with delayed attitude measurements. (English) Zbl 1204.93030

Int. J. Robust Nonlinear Control 20, No. 14, 1610-1621 (2010).
Summary: 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 Padé 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.

Cited in 13 Documents

MSC:

93B12 Variable structure systems
93C85 Automated systems (robots, etc.) in control theory
93D15 Stabilization of systems by feedback
93C10 Nonlinear systems in control theory

Keywords:

planar vertical take-off and landing (PVTOL) aircraft; measurement delay; non-minimum phase; output tracking; input disturbances; sliding mode control; Padé approximation
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