2021/11/29 by Zhe Shen, Shen, Zhe, Yudong Ma +3
Engineering · #Adaptive Control of Nonlinear Systems #Control and Stability of Dynamical Systems #Dynamics and Control of Mechanical Systems #FOS: Electrical engineering #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2111.14456
openalex publication_date 2021/11/29 · openalex created_date 2021/12/06 · openalex updated_date 2026/08/04
Saturations in control signal can challenge the stability proof of a feedback-linearization-based controller, even leading the system unstable [1]. Thus, several approaches are established to avoid reaching the saturation bound [2,3]. Meanwhile, to help design the controller for a quad-tilt-rotor, [1] modeled a tilt vehicle with implementing the feedback-linearization-based controllers. In this article, we provide a gait plan for this tilt vehicle and control it utilizing the feedback linearization. Since saturations exist in the control signals, we study the stability based on Lyapunov theory.