Controlling the PVTOL Aircraft System with an Inverted Pendular Load by means of Nested Saturation Functions and GPI Controller

This paper presents a control scheme that allows height position regulation and stabilization for an unmanned planar vertical takeoff and landing aircraft system with an inverted pendular load. The proposed controller consists of nested saturations and a generalized proportional integral (GPI). The...

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Autores principales:	Cesar Alejandro Villaseñor Rios, Octavio Gutiérrez-Frías, Carlos Aguilar-Ibanez, Miguel S. Suarez-Castanon
Formato:	article
Lenguaje:	EN
Publicado:	Hindawi Limited 2021
Materias:	Engineering (General). Civil engineering (General) TA1-2040 Mathematics QA1-939
Acceso en línea:	https://doaj.org/article/69bfa537f5c644c7b0ff183fcffa92a3
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spelling	oai:doaj.org-article:69bfa537f5c644c7b0ff183fcffa92a32021-11-29T00:56:42ZControlling the PVTOL Aircraft System with an Inverted Pendular Load by means of Nested Saturation Functions and GPI Controller1563-514710.1155/2021/2295417https://doaj.org/article/69bfa537f5c644c7b0ff183fcffa92a32021-01-01T00:00:00Zhttp://dx.doi.org/10.1155/2021/2295417https://doaj.org/toc/1563-5147This paper presents a control scheme that allows height position regulation and stabilization for an unmanned planar vertical takeoff and landing aircraft system with an inverted pendular load. The proposed controller consists of nested saturations and a generalized proportional integral (GPI). The GPI controls the aircraft height and the roll attitude; the latter is used as the fictitious input control. Next, the system is reduced through linear transformations, expressing it as an integrator chain with a nonlinear perturbation. Finally, the nested saturation function-based controller stabilizes the aircraft’s horizontal position and the pendulum’s angle. Obtaining the control approach was a challenging task due to the underactuated nature of the aircraft, particularly ensuring the pendulum’s upright position. The stability analysis was based on the second method of Lyapunov using a simple candidate function. The numerical simulation confirmed the control strategy’s effectiveness and performance. Additionally, the numerical simulation included a comparison against a PD controller, where its corresponding performance indexes were estimated, revealing that our controller had a better response in the presence of unknown disturbances.Cesar Alejandro Villaseñor RiosOctavio Gutiérrez-FríasCarlos Aguilar-IbanezMiguel S. Suarez-CastanonHindawi LimitedarticleEngineering (General). Civil engineering (General)TA1-2040MathematicsQA1-939ENMathematical Problems in Engineering, Vol 2021 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Engineering (General). Civil engineering (General) TA1-2040 Mathematics QA1-939
spellingShingle	Engineering (General). Civil engineering (General) TA1-2040 Mathematics QA1-939 Cesar Alejandro Villaseñor Rios Octavio Gutiérrez-Frías Carlos Aguilar-Ibanez Miguel S. Suarez-Castanon Controlling the PVTOL Aircraft System with an Inverted Pendular Load by means of Nested Saturation Functions and GPI Controller
description	This paper presents a control scheme that allows height position regulation and stabilization for an unmanned planar vertical takeoff and landing aircraft system with an inverted pendular load. The proposed controller consists of nested saturations and a generalized proportional integral (GPI). The GPI controls the aircraft height and the roll attitude; the latter is used as the fictitious input control. Next, the system is reduced through linear transformations, expressing it as an integrator chain with a nonlinear perturbation. Finally, the nested saturation function-based controller stabilizes the aircraft’s horizontal position and the pendulum’s angle. Obtaining the control approach was a challenging task due to the underactuated nature of the aircraft, particularly ensuring the pendulum’s upright position. The stability analysis was based on the second method of Lyapunov using a simple candidate function. The numerical simulation confirmed the control strategy’s effectiveness and performance. Additionally, the numerical simulation included a comparison against a PD controller, where its corresponding performance indexes were estimated, revealing that our controller had a better response in the presence of unknown disturbances.
format	article
author	Cesar Alejandro Villaseñor Rios Octavio Gutiérrez-Frías Carlos Aguilar-Ibanez Miguel S. Suarez-Castanon
author_facet	Cesar Alejandro Villaseñor Rios Octavio Gutiérrez-Frías Carlos Aguilar-Ibanez Miguel S. Suarez-Castanon
author_sort	Cesar Alejandro Villaseñor Rios
title	Controlling the PVTOL Aircraft System with an Inverted Pendular Load by means of Nested Saturation Functions and GPI Controller
title_short	Controlling the PVTOL Aircraft System with an Inverted Pendular Load by means of Nested Saturation Functions and GPI Controller
title_full	Controlling the PVTOL Aircraft System with an Inverted Pendular Load by means of Nested Saturation Functions and GPI Controller
title_fullStr	Controlling the PVTOL Aircraft System with an Inverted Pendular Load by means of Nested Saturation Functions and GPI Controller
title_full_unstemmed	Controlling the PVTOL Aircraft System with an Inverted Pendular Load by means of Nested Saturation Functions and GPI Controller
title_sort	controlling the pvtol aircraft system with an inverted pendular load by means of nested saturation functions and gpi controller
publisher	Hindawi Limited
publishDate	2021
url	https://doaj.org/article/69bfa537f5c644c7b0ff183fcffa92a3
work_keys_str_mv	AT cesaralejandrovillasenorrios controllingthepvtolaircraftsystemwithaninvertedpendularloadbymeansofnestedsaturationfunctionsandgpicontroller AT octaviogutierrezfrias controllingthepvtolaircraftsystemwithaninvertedpendularloadbymeansofnestedsaturationfunctionsandgpicontroller AT carlosaguilaribanez controllingthepvtolaircraftsystemwithaninvertedpendularloadbymeansofnestedsaturationfunctionsandgpicontroller AT miguelssuarezcastanon controllingthepvtolaircraftsystemwithaninvertedpendularloadbymeansofnestedsaturationfunctionsandgpicontroller
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Controlling the PVTOL Aircraft System with an Inverted Pendular Load by means of Nested Saturation Functions and GPI Controller

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