Controlled steady gliding and approximate trajectory tracking for vehicles subject to aerodynamic forcing

Pradeep Bhatta, Naomi Ehrich Leonard

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations


In this paper we present a control law that yields exponential stability of steady gliding motions of the conventional take off and landing (CTOL) aircraft model. We interpret the CTOL aircraft model as an interconnected system and prove closed-loop exponential stability by constructing a Lyapunov function. We use the stability of steady gliding motions to propose a methodology for approximately tracking desired trajectories. The stabilization and tracking methods presented here are also applicable to other air and underwater vehicles subject to aerodynamic moments, and lift and drag forces. One of the attractions of tracking based on stable gliding is the very low control effort requirement compared to dynamic inversion based methods. We demonstrate the proposed method with a simulation of the CTOL aircraft model.

Original languageEnglish (US)
Title of host publicationProceedings of the 2006 American Control Conference
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Print)1424402107, 9781424402106
StatePublished - 2006
Event2006 American Control Conference - Minneapolis, MN, United States
Duration: Jun 14 2006Jun 16 2006

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2006 American Control Conference
Country/TerritoryUnited States
CityMinneapolis, MN

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering


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