ROBUST VARIABLE-STRUCTURE CONTROL OF A PVTOL AIRCRAFT

This paper considers the development of tracking controllers for a mul ti-input nonlinear non-minimum phase Planar Vertical Take-off and Land ing (PVTOL) aircraft. The system is considered to be subject to bounde d/sector additive external uncertainties. A dynamic sliding mode contr ol philosophy is employed. The stability and robustness of the resulti ng closed-loop system is analysed. It is demonstrated that ultimate bo unded tracking may be achieved with bounded inputs despite the presenc e of uncertainty.