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To this end, the backstepping procedure together with nested saturation function method is used. Firstly, a convenient change of coordinates in the aerial vehicle model is carried out to dissociate the rotational dynamics from the translational one. Secondly, the backstepping procedure is applied to obtain the height position controller, allowing the reduction of the system and expressing it as an integrator chain with nonlinear disturbance. Therefore, the nested saturation function method is used to obtain a stabilizing controller for the horizontal position and roll angle. The corresponding stability analysis is conducted via the Lyapunov second method. In addition, to estimate the disturbance due to wind, an extended state observer is used. The effectiveness of the proposed control scheme is assessed through numerical simulations, from which convincing results have been obtained.<\/jats:p>","DOI":"10.1155\/2020\/3510396","type":"journal-article","created":{"date-parts":[[2020,9,1]],"date-time":"2020-09-01T23:32:16Z","timestamp":1599003136000},"page":"1-11","source":"Crossref","is-referenced-by-count":2,"title":["A Robust Control Scheme for a PVTOL System Subject to Wind Disturbances"],"prefix":"10.1155","volume":"2020","author":[{"given":"Carlos Alejandro","family":"Merlo-Zapata","sequence":"first","affiliation":[{"name":"Tecnol\u00f3gico Nacional de M\u00e9xico, Instituto Tecnol\u00f3gico de Iztapalapa, Departamento de Ciencias B\u00e1sicas, Ciudad de M\u00e9xico 09208, Mexico"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3925-2435","authenticated-orcid":true,"given":"Carlos","family":"Aguilar-Ibanez","sequence":"additional","affiliation":[{"name":"CIC, Instituto Polit\u00e9cnico Nacional, Unidad Profesional Adolfo L\u00f3pez Mateos, Ciudad de M\u00e9xico 07700, Mexico"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2855-3243","authenticated-orcid":true,"given":"Octavio","family":"Guti\u00e9rrez-Fr\u00edas","sequence":"additional","affiliation":[{"name":"SEPI, UPIITA, Instituto Polit\u00e9cnico Nacional, La Laguna Ticoman, Ciudad de M\u00e9xico 07340, Mexico"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6158-9005","authenticated-orcid":true,"given":"Mayra","family":"Antonio-Cruz","sequence":"additional","affiliation":[{"name":"Instituto Polit\u00e9cnico Nacional, UPIICSA, SEPI, Mexico City 08400, Mexico"}]},{"given":"Celso","family":"M\u00e1rquez-S\u00e1nchez","sequence":"additional","affiliation":[{"name":"Tecnol\u00f3gico Nacional de M\u00e9xico, Instituto Tecnol\u00f3gico de Iztapalapa, Departamento de Sistemas y Computaci\u00f3n, Ciudad de M\u00e9xico 09208, Mexico"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2258-7426","authenticated-orcid":true,"given":"Miguel S.","family":"Suarez-Castanon","sequence":"additional","affiliation":[{"name":"SEPI, ESCOM, Instituto Polit\u00e9cnico Nacional, Unidad Profesional Adolfo L\u00f3pez Mateos, Ciudad de M\u00e9xico 07700, Mexico"}]}],"member":"311","reference":[{"key":"1","doi-asserted-by":"publisher","DOI":"10.1016\/0005-1098(92)90029-f"},{"key":"2","doi-asserted-by":"publisher","DOI":"10.1109\/tac.2003.820148"},{"key":"3","doi-asserted-by":"publisher","DOI":"10.1080\/00207170310001637147"},{"key":"4","doi-asserted-by":"publisher","DOI":"10.1016\/s1474-6670(17)30474-3"},{"key":"5","doi-asserted-by":"publisher","DOI":"10.1109\/tcst.2005.847347"},{"key":"6","doi-asserted-by":"publisher","DOI":"10.1109\/tac.2002.804457"},{"key":"7","doi-asserted-by":"publisher","DOI":"10.1109\/tac.2007.900831"},{"key":"8","doi-asserted-by":"publisher","DOI":"10.1109\/tcst.2007.899718"},{"key":"9","doi-asserted-by":"publisher","DOI":"10.1002\/rnc.1248"},{"key":"10","doi-asserted-by":"publisher","DOI":"10.1243\/09544100jaero270"},{"key":"11","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2010.05.014"},{"key":"12","doi-asserted-by":"publisher","DOI":"10.1002\/rnc.1794"},{"key":"13","doi-asserted-by":"publisher","DOI":"10.1080\/00207721.2014.938906"},{"key":"14","doi-asserted-by":"publisher","DOI":"10.1007\/s11071-015-2400-y"},{"key":"15","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-017-0660-0"},{"key":"16","doi-asserted-by":"publisher","DOI":"10.1002\/rnc.3601"},{"key":"17","doi-asserted-by":"publisher","DOI":"10.1002\/asjc.1411"},{"key":"18","doi-asserted-by":"publisher","DOI":"10.1080\/00207179.2018.1554269"},{"key":"19","first-page":"239","volume-title":"Cascade ADRC based fault-tolerant control for a hovering PVTOL aircraft","volume":"72","year":"2019"},{"key":"20","doi-asserted-by":"publisher","DOI":"10.1080\/00207179.2019.1676468"},{"key":"21","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-019-01087-x"},{"issue":"3","key":"22","doi-asserted-by":"crossref","first-page":"1293","DOI":"10.1002\/asjc.1817","volume":"21","year":"2019","journal-title":"Asian Journal of Control"},{"year":"2006","key":"23"},{"key":"25","doi-asserted-by":"crossref","first-page":"3462","DOI":"10.1109\/ROBOT.1998.680973","volume":"4","year":"1998","journal-title":"IEEE International Conference on Robotics and Automation (Cat. 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