Adaptive control for the PVTOL system via Minimum Projection Method

“Dynamic extension” is commonly used for stabilization of planar vertical take off and landing (PVTOL) system. Most of controllers designed by this method are based on “dynamic” control Lyapunov functions(CLFs). We design a C8differentiable “static” strict CLF for the PVTOL system by dynamic extension and minimum projection method. Then we propose an adaptive control law with the an inverse optimal controller based on the static CLF.