Non-Linear Control for PVTOL Without Algebraic Restrictions

This paper presents a Proportional-Derivative Control strategy for the non-linear PVTOL system without algebraic restrictions. The total thrust is computed using a non-linear feedback compensation so that the altitude reaches the desired reference. The horizontal position x is then controlled by choosing the orientation angle θ as a smooth saturation function of x and · x. A proof of convergence is presented using a Lyapunov approach. The proposed control strategy is successfully tested in numerical simulations.