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Title of Journal: Nonlinear Dyn

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Abbravation: Nonlinear Dynamics

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Springer Netherlands

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DOI

10.1007/978-3-662-49206-2_9

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ISSN

1573-269X

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A backsteppingbased procedure with saturation fun

Authors: Carlos AguilarIbáñez J Humberto SossaAzuela Miguel S SuarezCastanon
Publish Date: 2015/09/30
Volume: 83, Issue: 3, Pages: 1247-1257
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Abstract

In this study we present a control strategy to solve the regulation problem for a simplified version of a PVTOL system strongly coupled The strategy is split into two control actions that act simultaneously one stabilizes asymptotically the vertical position the other stabilizes both the horizontal and the angle positions The first controller uses a simple feedback linearization procedure in conjunction with a saturation function This controller assigns a quasilinear behavior to the vertical displacement The second controller is based on a suitable backstepping procedure and its task is to force the remaining variables converge asymptotically to the origin In short the resulting control is a nonlinear state feedback whose performance is demonstrated by numerical simulations The convergence analysis based on the Lyapunov method turned out to be quite simple if compared to other control methods found in the literatureThis research was supported by the Centro de Investigación en Computaci ón of the Instituto Politecnico Nacional CICIPN and by the Secretar ía de Investigación y Posgrado of the Instituto Politecnico Nacional SIPIPN under Research Grants 20150929 20151187 and 20150351

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