Output-feedback global stabilization of uncoupled PVTOL aircraft with bounded inputs
Arturo Zavala-Rio, Isabelle Fantoni
An output-feedback scheme for the global stabilization of uncoupled PVTOL aircraft with bounded inputs is proposed. The control objective is achieved avoiding input saturation and through the exclusive consideration of system positions in the feedback. To cope with the lack of velocity measurements, the proposed algorithm involves a finite-time observer. With respect to previous approaches, the developed finite-time-observer-based scheme guarantees the global stabilization objective disregarding velocity measurements in a bounded input context. Simulation results corroborate the analytical developments.