Nonlinear control applied on PVTOL with restricted Cartesian dynamics

Omar Sánchez-Rodríguez, Ricardo Barrón-Fernández, Juan Carlos Chimal-Eguia

This work is directed toward stabilizing a 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 con-
troller which is strengthened by immersion in a system
with better performance characteristics and its invari-
ance ensures that it will converge to a point of stability.
This is validated by numerical software simulation.
CYBERNETICS AND PHYSICS, Vol. 2, No. 3, 169–176.

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