This paper studies the modeling and control of a Planar Vertical Take-Off and Landing (PVTOL) with steerable thruster. A longitudinal model is obtained using Newton’s second law for the PVTOL which evolves in 3 degrees of freedom and has two control inputs. The aerial vehicle is driven by steerable propulsion controlling its evolution in the vertical plane through the thrust and torque control inputs, which drive the vehicle body and generate a rotation. The obtained model is nonlinear and is significantly different with respect to the well-known PVTOL. For this reason, different control algorithms are presented, and the closed-loop behavior is studied for each of them. The proposed control strategies perform a stationary flight at a desired altitude and control the position of the aerial vehicle. The performance of the proposed control algorithms is tested in numerical simulations.

本文研究了带有可操纵推进器的平面垂直起飞和着陆（PVTOL）的建模和控制。使用牛顿第二定律获得了 PVTOL 的纵向模型，该模型以 3 个自由度演化并具有两个控制输入。飞行器由可操纵推进装置驱动，通过推力和扭矩控制输入控制其在垂直平面上的演化，从而驱动飞行器主体并产生旋转。获得的模型是非线性的，与众所周知的 PVTOL 显着不同。因此，提出了不同的控制算法，并对每种算法的闭环行为进行了研究。所提出的控制策略在所需高度执行静止飞行并控制飞行器的位置。所提出的控制算法的性能在数值模拟中进行了测试。