Output feedback sliding mode control of a PVTOL including actuators dynamics

This paper focuses on the regulation problem of a planar vertical take-off and landing (PVTOL) aircraft using output feedback sliding mode controller where a sliding mode observer is used to estimate the velocity. The observer design is independent of the feedback control design (separation principle). Considering as important the actuators response in the performance of the closed-loop systems, the dynamics of the PVTOL is augmented with the dynamics of the actuators. The performance of the closed-loop system is illustrated through simulation results.