APPROACH OF NONLINEAR CONTROL APPLIED ON PVTOL WITH CARTESIAN DYNAMIC RESTRICTED
This work is directed toward stabilizing PVTOL by two rotors with restricted spatial mobility. The problem of controlling the system is solved using a new method proposed by Astolfi and Ortega, named Immersion and Invariance stabilization. The method consists of a controller which is strengthened by immersion in a system with better performance characteristics and its invariance ensures that will converge to a point of stability. This is validated by numerical software simulation and implemented on a virtual reality environment which was designed in CAD software.