Please use this identifier to cite or link to this item: https://hdl.handle.net/2440/44707
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Type: Conference paper
Title: An approximate backstepping control law for the global stabilisation of symmetric VTOL vehicles
Author: Wood, R.
Cazzolato, B.
Citation: Information, Decision and Control, 2007, 142-147
Publisher: IEEE
Publisher Place: USA
Issue Date: 2007
ISBN: 1424409020
9781424409020
Conference Name: Information, Decision and Control (2007 : Adelaide, Australia)
Editor: Mareels, P.
Abstract: In this paper we propose an approximate backstepping control law for the stabilisation of Six Degree of Freedom symmetric VTOL vehicles. This control law results in closed-loop dynamics with a stable cascade structure. An additional innovation is to design feedback such that the interconnection term between resulting cascaded sub-systems is minimised. The proposed control law is proven to be globally, exponentially stable. Simulation results show aggressive stabilisation and the benefits of minimising the closed-loop interconnection term. © 2007 IEEE.
DOI: 10.1109/IDC.2007.374540
Appears in Collections:Aurora harvest 6
Environment Institute publications
Mechanical Engineering publications

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