Simulation study demonstrates exponential stabilization in nonlinear PVTOL systems via Lyapunov control, highlighting a defined domain of attraction.
This paper presents a simplified control strategy to stabilize the model of the planar vertical take-off and landing (PVTOL) nonlinear system. The stability analysis is based on a Lyapunov function and therefore exponential stability is ensured when the initial conditions belong to a domain of attraction which is also specified. A robustness analysis is presented based on the Lyapunov function. Numerical simulations illustrate the performance of the proposed control algorithm.
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Lozano et al. (2026) studied this question.
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