Adaptive Control of PVTOL using H∞ based Integral Sliding Mode Control

The control of a large scale nonlinear underactuated system is a challenging task. The proposed controller reduces the effect of the unmatched perturbations. The stabilization of the aircraft is obtained using the modified controller. The proposed controller is compared with the controller proposed by Fantoni et al. [3]. Simulation results are presented for the aircraft considering the coupling parameter and disturbances.