Abstract
This paper studies the modeling and control of a Planar Vertical Take-Off and Landing (PVTOL) with steerable thruster. A longitudinal model is obtained using Newton’s second law for the PVTOL which evolves in 3 degrees of freedom and has two control inputs. The aerial vehicle is driven by steerable propulsion controlling its evolution in the vertical plane through the thrust and torque control inputs, which drive the vehicle body and generate a rotation. The obtained model is nonlinear and is significantly different with respect to the well-known PVTOL. For this reason, different control algorithms are presented, and the closed-loop behavior is studied for each of them. The proposed control strategies perform a stationary flight at a desired altitude and control the position of the aerial vehicle. The performance of the proposed control algorithms is tested in numerical simulations.
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Acknowledgements
The authors would like to thank the Center for Research and Advanced Studies (CINVESTAV) and the Council of Science and Technology (CONACYT) of Mexico for the support provided to carry out this research.
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This research was supported by the Center for Research and Advanced Studies (CINVESTAV) and the Council of Science and Technology (CONACYT) of Mexico.
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Authors Rogelio Lozano, Jhonatan F Eulopa - Hernandez and Sergio Rosario - Salazar contributed to the study conception and design. Material preparation, data collection and analysis were performed by all participants. All authors read and approved the final manuscript.
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Lozano, R., Eulopa-Hernandez, J.F. & Salazar-Cruz, S. Control of the PVTOL with Strong Input Coupling. J Intell Robot Syst 110, 33 (2024). https://doi.org/10.1007/s10846-024-02066-7
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DOI: https://doi.org/10.1007/s10846-024-02066-7