Work

A crosswind perturbed PVTOL aircraft robust global control solution for the trajectory tracking problem

Year: 2026

Type: article

Abstract: This study solves the trajectory-tracking control problem for a crosswind-perturbed crewless PVTOL aircraft. The proposed globally feedback-based solution consists of two parts: one makes the aircraft’s horizontal and vertical position accelerations convenient, ensuring no singularities in the closed-loop system. To accomplish the control task, two controllers were designed: a continuous controller to ensure the aircraft tracks the trajectory, and a discontinuous integral-adaptive sliding-mode controller to counteract the destabilizing crosswind effect. The first controller was designed using a simple backstepping approach, with a saturation function replacing linear control to avoid singular points. The second controller was designed using Lyapunov functions and Barbalat’s lemma. The solution’s performance was tested through numerical simulations, yielding convincing results.

Source: Measurement and Control

DOI: 10.1177/00202940261448166

Authors: Carlos Aguilar-Ibanez, Miguel S. Suarez-Castanon, Belem Saldivar, Jose de Jesus Rubio, Juan Carlos Martinez-Garcia, Julio Alberto Mendoza-Mendoza

Institutions: Instituto Politécnico Nacional, Centro de Investigación y de Estudios Avanzados del Instituto Politécnico Nacional

Language: English

Topic: Adaptive Control of Nonlinear Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $2,000

Funder: Instituto Politécnico Nacional