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Type: Journal article
Title: An alternative nonlinear control law for the global stabilization of the PVTOL vehicle
Author: Wood, R.
Cazzolato, B.
Citation: IEEE Transactions on Automatic Control, 2007; 52(7):1282-1287
Publisher: IEEE-Inst Electrical Electronics Engineers Inc
Issue Date: 2007
ISSN: 0018-9286
Statement of
Wood, R.; Cazzolato, B.
Abstract: A popular method for the control of the planar vertical takeoff and landing vehicle (PVTOL) is to cast the system into the form of a cascade nonlinear system with an exponentially stable linear subsystem, as suggested by Olfati-Saber in 2002. This idea has since been incorporated into many other published works. The contribution of this note is to demonstrate an alternative cascade structure, achieved by minimizing the interconnection term between closed-loop subsystems. Global stability of the proposed controller is proven, and simulation results suggest improved performance of this new approach as compared to that previously published.
Description: © Copyright 2008 IEEE – All Rights Reserved
DOI: 10.1109/TAC.2007.900831
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Appears in Collections:Aurora harvest
Environment Institute publications
Mechanical Engineering publications

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