Control design for planar vertical takeoff-and-landing aircraft based on controlled Lagrangians
基于受控拉格朗日函数的垂直起降飞机控制器设计

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.