%0 Journal Article
%T Control design for planar vertical takeoff-and-landing aircraft based on controlled Lagrangians<br>基于受控拉格朗日函数的垂直起降飞机控制器设计
%A LI Mao-qing
%A <br>李茂青
%J 控制理论与应用
%D 2010
%I 
%X The controller design technique based on controlled Lagrangians(CL) for the mechanical systems with underactuation degree one is applied to control a planar vertical takeoff-and-landing (PVTOL) aircraft system with input coupling. Under the matching condition between the explicit gyroscopic forces, we develop a smooth feedback control law which ensures almost globally asymptotic stabilization for the system. Compared with the results obtained with existing similar methods, this matching controller is simpler in construction while retaining the same convergence performance.
%K underactuated mechanical systems
%K controlled Lagrangians
%K matching condition
%K gyroscopic forces
%K PVTOL aircraft<br>欠驱动力学系统
%K 受控拉格朗日函数
%K 匹配条件
%K 陀螺力
%K 垂直起降飞机
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=E4A6C8062506C707B145B44338CA6C38&yid=140ECF96957D60B2&vid=DB817633AA4F79B9&iid=B31275AF3241DB2D&sid=2A22E972FD97071B&eid=D02611D1F8166C9A&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=0&reference_num=12