| Resumen |
This work is directed toward stabilizing PVTOL by two rotors with restricted spatial mobility. The problem of controlling the system is solved using a new method proposed by Astolfi and Ortega, named Immersion and Invariance stabilization. The method consists of a controller which es strengthened by inmersion in a system with better performance characteristics and its invariance ensures that will converge to a poin of stability. This es validated by numerical software simulation and implemented on a virtual reality environment wich was designed in CAD software. |
