PVTOL global stabilisation using a nested saturation control

International audienceThis paper presents how the nested saturation control introduced in Teel (1992) can be modified to stabilise the model of the Planar Vertical Take-Off and Landing (PVTOL) system. A particular choice of the amplitudes of the nested saturations controller is given such that global stability of the closed loop system is obtained. The proof is given in detail. Numerical simulations illustrate the performance of the proposed control algorithm