Publications
An Approximate Backstepping Control Law for the Global Stabilisation of Symmetric VTOL Vehicles
Rohin Wood, Ben S. Cazzolato (2007)
Information, Decision and Control 2007, Adelaide, South Australia, Australia, 12-14 FebruaryAbstract:
In this paper we propose an approximate backstepping control law for the stabilisation of Six Degree of Freedom symmetric VTOL vehicles. This control law results in closed-loop dynamics with a stable cascade structure. An additional innovation is to design feedback such that the interconnection term between resulting cascaded sub-systems is minimised. The proposed control law is proven to be globally, exponentially stable, and simulation results show aggressive stabilisation and the benefits of minimising the closed-loop interconnection term.
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