Static State Feedback Control System Design for PVTOL System via Minimum Projection Method

Abstract

“Dynamic extension” is commonly used for stabilization of planar vertical takeoff and landing (PVTOL) system. Most of controllers designed by this method suffer from singularities of division-by-zero. We propose a “static” control Lyapunov function (CLF) design method for a PVTOL system by using a CLF obtained by dynamic extension and minimum projection method. Then, we design an inverse optimal controller with the designed static CLF. Moreover, we show that the proposed controller successfully stabilizes a desired operating point even in the neighborhood of the singularity where the conventional dynamic extension can not stabilize.