A Lyapunov Function Based Nonlinear Controller Design for PVTOL Aircraft

Abstract

An alternative stabilization procedure based on a Lyapunov function is presented for PVTOL aircraft. The rotational dynamics of the aircraft is represented with complex numbers, and the controller design procedure is given based on this model. Almost global asymptotic stability of the desired position for the aircraft is shown with a Lyapunov function and by the utilization of LaSalle's invariant set principle. The performance of the developed controller is tested via numerical simulations and the results are presented.