Adaptive Stabilization of a PVTOL Aircraft with Uncertainties Based on Controlled Lagrangians

An adaptive stabilization control strategy based on controlled Lagrangians for an under-actuated planar vertical take-off and landing (PVTOL) aircraft with unknown model parameters is presented in this paper. Firstly, considering the PVTOL aircraft with known model parameters, a stabilization controller designed by controlled Lagrangians is reviewed. Next, by modifying it, an adaptive continuous feedback controller for stabilizing the aircraft with unknown model parameters and a related adaptive update laws for estimating the unknown parameter are proposed. Finally, asymptotic stability of the closed-loop system is strictly proved. Numerical simulation verifies the effectiveness of the proposed controller.