A prediction based controller for stabilization of a non-minimum phase PVTOL aircraft
Résumé
In this paper a nonlinear prediction based control approach is proposed for stabilization of Planar Vertical Take-Off and Landing (PVTOL) aircraft. This system has fewer control inputs than degrees of freedom (i.e. under-actuated) and has unstable zero dynamics (i.e. non-minimum phase). The proposed control approach is based on partial feedback linearization, which allows the emergence of a completely linearized sub-system and internal dynamics. Then prediction based optimal trajectories are proposed for the linearized variables, where the optimization objective is to enhance the behavior and the stability of the internal dynamics. Stability analysis of the closed-loop system is performed using a graphical tool based on the Poincaré section. Two simulation case studies are given. The first simulation concerns the stabilization of the aircraft, while in the second one the robustness of the control approach against parameters uncertainties is studied.