Output-Feedback Stabilization of the PVTOL Aircraft System Based on an Exact Differentiator

  • Carlos Aguilar-Ibañez
  • Miguel S. Suarez-Castanon
  • Julio Mendoza-Mendoza
  • Jose de Jesus Rubio
  • Juan Carlos Martínez-García


An output-feedback control strategy for the regulation of a planar vertical take-off and landing aircraft is presented here. The strategy consists of two controllers that work simultaneously. The first controller stabilizes the vertical variable, and is based on a simple feedback-linearization procedure, in combination with a nonlinear controller (which behaves as a terminal slide mode). The other controller stabilizes the horizontal and angular variables to the desired rest position, and was designed using an energy-control method. The velocities were exactly estimated with a second-order sliding-mode observer. Because this observer computes the velocities in finite time, the control strategy can be designed independently. The effectiveness of the closed-loop system was tested through numerical simulations and compared with other control strategies.


PVTOL aircraft Sliding mode observer Energy-based control Exact differentiator 


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This research was supported by the Secretaría de Investigación y Posgrado of the Instituto Politecnico Nacional (SIP-IPN) under Research Grants 20171586 and 20171948.


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Copyright information

© Springer Science+Business Media B.V. 2017

Authors and Affiliations

  • Carlos Aguilar-Ibañez
    • 1
  • Miguel S. Suarez-Castanon
    • 2
  • Julio Mendoza-Mendoza
    • 1
  • Jose de Jesus Rubio
    • 3
  • Juan Carlos Martínez-García
    • 4
  1. 1.CIC-Instituto Politécnico NacionalMéxicoMexico
  2. 2.ESCOM-Instituto Politécnico NacionalMexicoMéxico
  3. 3.ESIME AZC-Instituto Politécnico NacionalCiudad de MéxicoMéxico
  4. 4.Control Automático - CINVESTAV del IPNCiudad de MéxicoMéxico

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