Stabilization of the PVTOL via Saturation Technique
基于饱和方法的直升机镇定设计

The problem of stabilization of the planar verti- cal take-off and landing(PVTOL)aircraft is considered in this paper.Based on a saturation design approach,the design of sta- bilization controller of the PVTOL is given by viewing a partial dynamics of the PVTOL as a chain of integrators with nonlinear perturbation and by further transforming it into a feedforward- form system.The global asymptotic stability of the closed loop system is proven using Lyapunov method.The design method in this paper is simple in the sense that it requires neither the forwarding and backstepping technique nor the small gain anal- ysis.The control law in this paper has a simpler functional form than the existing designs and its effectiveness is verified by simulations.