Path following for the PVTOL aircraft

Authors:
Luca Consolini;Manfredi Maggiore;Christopher Nielsen;Mario Tosques
Affiliations:
Dipartimento di Ingegneria dell'Informazione, Parco Area delle Scienze 181/a, 43100 Parma, Italy;Electrical and Computer Engineering Department, University of Toronto, 10 King's College Road, Toronto, Ontario, M5S 3G4, Canada;Department of Electrical and Computer Engineering, University of Waterloo, 200 University Ave. W, Waterloo, Ontario, N2L 3G1, Canada;Dipartimento di Ingegneria Civile, Parco Area delle Scienze 181/a, 43100 Parma, Italy
Venue:
Automatica (Journal of IFAC)
Year:
2010

Citing 7
Cited 1

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)
Finite-Time Stability of Continuous Autonomous Systems

SIAM Journal on Control and Optimization
Brief paper: Periodic motions of the Pendubot via virtual holonomic constraints: Theory and experiments

Automatica (Journal of IFAC)
On Local Transverse Feedback Linearization

SIAM Journal on Control and Optimization
Brief paper: Path following using transverse feedback linearization: Application to a maglev positioning system

Automatica (Journal of IFAC)
Autonomous vertical landing on an oscillating platform: an internal-model based approach

Automatica (Journal of IFAC)

Control of a bicycle using virtual holonomic constraints

Automatica (Journal of IFAC)

Quantified Score

Hi-index	22.15

Visualization

Abstract

This article presents a solution to the path following problem for the planar vertical take-off and landing aircraft (PVTOL) which is applicable to a class of smooth Jordan curves. Our path following methodology enjoys the two properties of output invariance of the path (i.e., if the PVTOL's centre of mass is initialized on the path and its initial velocity is tangent to the path, then the PVTOL remains on the path at all future times) and boundedness of the roll dynamics. Further, our controller guarantees that, after a finite time, the time average of the roll angle is zero, and the PVTOL does not perform multiple revolutions about its longitudinal axis.