Robust regulation of a PVTOL aircraft subject to crosswind disturbances: Passivity and integral sliding mode approach.

Autor: Aguilar-Ibanez C; Centro de Investigación en Computación, Instituto Politécnico Nacional, Ciudad de México, Mexico., Suarez-Castanon MS; Escuela Superior de Cómputo, Instituto Politécnico Nacional, Ciudad de México, Mexico., Saldivar B; Departamento de Control Automático, Centro de Investigación y de Estudios Avanzados del Instituto Politécnico Nacional, Ciudad de México, Mexico., Jiménez-Lizárraga M; Facultad de Ciencias Físico Matemáticas, Universidad Autónoma de Nuevo León, Mexico., Rubio JJ; Escuela Superior de Ingeniería Mecánica y Eléctrica, Instituto Politécnico Nacional, Ciudad de México, Mexico.
Jazyk: angličtina
Zdroj: PloS one [PLoS One] 2024 Dec 05; Vol. 19 (12), pp. e0307398. Date of Electronic Publication: 2024 Dec 05 (Print Publication: 2024).
DOI: 10.1371/journal.pone.0307398
Abstrakt: This paper deals with the problem of robust regulation of a Planar Vertical Takeoff and Landing (PVTOL) aircraft affected by crosswind disturbances. The proposed approach simultaneously exploits the advantages of passivity-based control and the integral sliding mode (ISM) control technique. We demonstrate that the passivity-based controller accomplishes the PVTOL regulation within a guaranteed stability region. At the same time, the ISM controller can effectively counteract the undesirable disturbances effect from the beginning of the operation since the disturbances are never seen in the measurable output. Using the passivity approach with LaSalle's Invariance Theorem, we construct the required Lyapunov function to establish the closed-loop system stability. The proposed combination of controllers results in a robust system that satisfactorily solves the regulation problem. Numerical simulations are provided to show that the proposed approach allows the tracking of different reference signals: pulse-train shaped trajectory and ellipse-shaped trajectory, considering the presence of perturbations (crosswind). Furthermore, to illustrate the effectiveness of the proposed technique, a comparative analysis considering two robust control strategies is provided.
Competing Interests: The authors have declared that no competing interests exist.
(Copyright: © 2024 Aguilar-Ibanez et al. This is an open access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.)
Databáze: MEDLINE
Externí odkaz:
Nepřihlášeným uživatelům se plný text nezobrazuje