In this work, based on shaping an energy function, it is introduced an output-feedback regulation control law for a Planar Vertical Takeoff and Landing (PVTOL) aircraft. To this end, a version of the matching control energy method is used to construct the Lyapunov candidate function and the stabilizer controller to regulate the PVTOL aircraft. The non-measurable system velocities are recovered using a suitable exact differentiator observer, achieved through super-twisting based observer. The theorem of LaSalle, together with some tools from the cascade system theory, was used to carry out the closed-loop stability analysis. Using a suitable finite time-varying identificator, the obtained controllers were improved to compensate bounded, smooth, and matching perturbations. Numerical simulations were included to test the effectiveness of the obtained controller.

在这项工作中，在整形能量函数的基础上，引入了平面垂直起降（PVTOL）飞机的输出反馈调节控制律。为此，使用匹配控制能量方法的一种形式来构造李雅普诺夫候选函数，并使用稳定器控制器来调节PVTOL飞机。不可测量的系统速度是使用合适的精确微分观测器恢复的，该观测器是通过基于超扭曲的观测器实现的。LaSalle定理与级联系统理论中的一些工具一起用于进行闭环稳定性分析。使用合适的有限时变标识符，对获得的控制器进行了改进，以补偿有界，平滑和匹配的扰动。