A Robust Control Scheme for a PVTOL System Subject to Wind Disturbances
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 f...
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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2020-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2020/3510396 |
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| author | Carlos Alejandro Merlo-Zapata Carlos Aguilar-Ibanez Octavio Gutiérrez-Frías Mayra Antonio-Cruz Celso Márquez-Sánchez Miguel S. Suarez-Castanon |
| author_facet | Carlos Alejandro Merlo-Zapata Carlos Aguilar-Ibanez Octavio Gutiérrez-Frías Mayra Antonio-Cruz Celso Márquez-Sánchez Miguel S. Suarez-Castanon |
| author_sort | Carlos Alejandro Merlo-Zapata |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-edc6c3ab1f6e47a3bbb9b47f697658ce |
| institution | Kabale University |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2020-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-edc6c3ab1f6e47a3bbb9b47f697658ce2025-02-03T05:53:56ZengWileyComplexity1076-27871099-05262020-01-01202010.1155/2020/35103963510396A Robust Control Scheme for a PVTOL System Subject to Wind DisturbancesCarlos Alejandro Merlo-Zapata0Carlos Aguilar-Ibanez1Octavio Gutiérrez-Frías2Mayra Antonio-Cruz3Celso Márquez-Sánchez4Miguel S. Suarez-Castanon5Tecnológico Nacional de México, Instituto Tecnológico de Iztapalapa, Departamento de Ciencias Básicas, Ciudad de México 09208, MexicoCIC, Instituto Politécnico Nacional, Unidad Profesional Adolfo López Mateos, Ciudad de México 07700, MexicoSEPI, UPIITA, Instituto Politécnico Nacional, La Laguna Ticoman, Ciudad de México 07340, MexicoInstituto Politécnico Nacional, UPIICSA, SEPI, Mexico City 08400, MexicoTecnológico Nacional de México, Instituto Tecnológico de Iztapalapa, Departamento de Sistemas y Computación, Ciudad de México 09208, MexicoSEPI, ESCOM, Instituto Politécnico Nacional, Unidad Profesional Adolfo López Mateos, Ciudad de México 07700, MexicoIn 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.http://dx.doi.org/10.1155/2020/3510396 |
| spellingShingle | Carlos Alejandro Merlo-Zapata Carlos Aguilar-Ibanez Octavio Gutiérrez-Frías Mayra Antonio-Cruz Celso Márquez-Sánchez Miguel S. Suarez-Castanon A Robust Control Scheme for a PVTOL System Subject to Wind Disturbances Complexity |
| title | A Robust Control Scheme for a PVTOL System Subject to Wind Disturbances |
| title_full | A Robust Control Scheme for a PVTOL System Subject to Wind Disturbances |
| title_fullStr | A Robust Control Scheme for a PVTOL System Subject to Wind Disturbances |
| title_full_unstemmed | A Robust Control Scheme for a PVTOL System Subject to Wind Disturbances |
| title_short | A Robust Control Scheme for a PVTOL System Subject to Wind Disturbances |
| title_sort | robust control scheme for a pvtol system subject to wind disturbances |
| url | http://dx.doi.org/10.1155/2020/3510396 |
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