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| Titel: |
Output tracking for nonlinear non-minimum phase systems and application to PVTOL aircraft |
| Auteur: |
Wang, Xinhua Yang, Geng Xu, Wenli |
| Verschenen in: |
International journal of systems science |
| Paginering: | Jaargang 39 (2008) nr. 1 pagina's 29-42 |
| Jaar: |
2008-01 |
| Inhoud: |
In this paper, we consider a class of multi-input multi-output (MIMO) nonlinear non-minimum phase systems. For such nonlinear system, an output tracking control approach based on decomposition is presented and applied to a planar vertical takeoff and landing (PVTOL) aircraft. The external dynamics of the system can be separated into minimum-phase and non-minimum-phase parts. The internal dynamics of the system is separated to linear part and nonlinear part, and the linear part of the internal dynamics is only related with the non-minimum phase part of the external dynamics and the states of itself. Consequently, two low-dimensional controllers are designed separately to stabilize the two subsystems, and make the overall closed-loop system stable in spite of the existence of disturbances. Through this method, the design of the controller parameters is very simple. The theoretical results are confirmed by computer simulations. |
| Uitgever: |
Taylor & Francis |
| Bronbestand: |
Elektronische Wetenschappelijke Tijdschriften |
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