APPROACH OF NONLINEAR CONTROL APPLIED ON PVTOL WITH CARTESIAN DYNAMIC RESTRICTED
Omar Sánchez-Rodríguez, Ricardo Barrón-Fernández, Juan-Carlos Chimal-Egüia
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.