PVTOL global stabilisation using a nested saturation control
Rogelio Lozano, Sergio Salazar, Donovan Flores, I. González-Hernández
Abstract
This paper presents how the nested saturation control introduced in Teel (1992 Teel, A. R. (1992). Global stabilization and restricted tracking for multiple integrators with bounded controls. Systems & Control Letters, 18(3), 165–171. https://doi.org/10.1016/0167-6911(92)90001-9[Crossref], [Web of Science ®] , [Google Scholar]) can be modified to stabilise the model of the Planar Vertical Take-Off and Landing (PVTOL) system. A particular choice of the amplitudes of the nested saturations controller is given such that global stability of the closed loop system is obtained. The proof is given in detail. Numerical simulations illustrate the performance of the proposed control algorithm.