Adaptive control for the PVTOL system via Minimum Projection Method. Issue 11 (2015)

• Record Type: Journal Article
• Authors: Kuga, Soki; Nakamura, Hisakazu; Satoh, Ysuyuki
• Is Part Of: IFAC-PapersOnLine. Volume 48:Issue 11(2015)
• Page Start: 216
• Page End: 221
• Publication Date: 2015
• Subjects: Nonlinear control -- Control Lyapunov function -- Adaptive control -- Inverse optimal control -- PVTOL system; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2015.09.186
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: "Dynamic extension" is commonly used for stabilization of planar vertical take off and landing (PVTOL) system. Most of controllers designed by this method are based on "dynamic" control Lyapunov functions(CLFs). We design a C 8 differentiable "static" strict CLF for the PVTOL system by dynamic extension and minimum projection method. Then we propose an adaptive control law with the an inverse optimal controller based on the static CLF.