A Robust Control Scheme for a PVTOL System Subject to Wind Disturbances
Joint Authors
Márquez-Sánchez, C.
Gutierrez-Frias, Octavio
Merlo-Zapata, Carlos Alejandro
Suárez-Castañón, Miguel S.
Antonio-Cruz, M.
Aguilar-Ibáñez, Carlos F.
Source
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-09-01
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
In this study, a control scheme that allows performing height position regulation and stabilization for an unmanned planar vertical take-off and landing aerial vehicle, in the presence of disturbance due to wind, is presented.
To this end, the backstepping procedure together with nested saturation function method is used.
Firstly, a convenient change of coordinates in the aerial vehicle model is carried out to dissociate the rotational dynamics from the translational one.
Secondly, the backstepping procedure is applied to obtain the height position controller, allowing the reduction of the system and expressing it as an integrator chain with nonlinear disturbance.
Therefore, the nested saturation function method is used to obtain a stabilizing controller for the horizontal position and roll angle.
The corresponding stability analysis is conducted via the Lyapunov second method.
In addition, to estimate the disturbance due to wind, an extended state observer is used.
The effectiveness of the proposed control scheme is assessed through numerical simulations, from which convincing results have been obtained.
American Psychological Association (APA)
Merlo-Zapata, Carlos Alejandro& Aguilar-Ibáñez, Carlos F.& Gutierrez-Frias, Octavio& Antonio-Cruz, M.& Márquez-Sánchez, C.& Suárez-Castañón, Miguel S.. 2020. A Robust Control Scheme for a PVTOL System Subject to Wind Disturbances. Complexity،Vol. 2020, no. 2020, pp.1-11.
https://search.emarefa.net/detail/BIM-1141475
Modern Language Association (MLA)
Merlo-Zapata, Carlos Alejandro…[et al.]. A Robust Control Scheme for a PVTOL System Subject to Wind Disturbances. Complexity No. 2020 (2020), pp.1-11.
https://search.emarefa.net/detail/BIM-1141475
American Medical Association (AMA)
Merlo-Zapata, Carlos Alejandro& Aguilar-Ibáñez, Carlos F.& Gutierrez-Frias, Octavio& Antonio-Cruz, M.& Márquez-Sánchez, C.& Suárez-Castañón, Miguel S.. A Robust Control Scheme for a PVTOL System Subject to Wind Disturbances. Complexity. 2020. Vol. 2020, no. 2020, pp.1-11.
https://search.emarefa.net/detail/BIM-1141475
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1141475