Brief paper: Tracking control for a velocity-sensorless VTOL aircraft with delayed outputs

Authors:
Xinhua Wang;Jinkun Liu;Kai-Yuan Cai
Affiliations:
National Key Laboratory of Science and Technology on Holistic Control, Beijing University of Aeronautics and Astronautics, Beijing 100191, China;School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China;National Key Laboratory of Science and Technology on Holistic Control, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
Venue:
Automatica (Journal of IFAC)
Year:
2009

Citing 2
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Nonlinear control design for slightly non-minimum phase systems: application to V/STOL aircraft

Automatica (Journal of IFAC)
A different look at output tracking: control of a VTOL aircraft

Automatica (Journal of IFAC)

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Abstract

This paper presents a nonlinear output-feedback control method to force an underactuated vertical take-off and landing (VTOL) aircraft with delayed measurement outputs to asymptotically track a given reference trajectory. The control development is based on a delayed-output observer. The proposed observer consists of two-step observation algorithms reconstructing the system state with multi-delayed time instants. Conditions are given ensuring global exponential convergence to zero of the observation error for the given the delays in the measurements. Moreover, two low-dimensional controllers are designed separately to stabilize the two decomposed flight dynamics, and make the overall closed-loop system stable. The merits of method include its simple implementation and interesting application. Numerical simulations illustrate the effectiveness of the proposed control method.