Global set point robust regulation for a PVTOL vehicle with bounded inputs

A design procedure to robustly globally stabilize the Planar Vertical Take Off and Landing (PVTOL) around a position by means of bounded control law and without knowledge of the velocities is presented. The methodology is based on the use of saturation functions bounding the thrust and the roll inputs. To this purpose the techniques given in [13]-[14] (making use of the full state) are enriched with the design of an observer for the nominal system. The algorithm is simple and provides global robust convergence to the reference constant signals.