Nonlinear Automatic Landing Control of Unmanned Aerial Vehicles on Moving Platforms Via a 3D Laser Radar10th International Conference on Mathematical Problems in Engineering, Aerospace and Sciences (ICNPAA) (2014)
"This paper presents a motion tracking and control system for automatically landing Unmanned Aerial Vehicles (UAVs) on an oscillating platform using Laser Radar (LADAR) observations. The system itself is assumed to be mounted on a ship deck. A full nonlinear mathematical model is first introduced for the UAV. The ship motion is characterized by a Fourier transform based method which includes a realistic characterization of the sea waves. LADAR observation models are introduced and an algorithm to process those observations for yielding the relative state between the vessel and the UAV is presented, from which the UAV's state relative to an inertial frame can be obtained and used for feedback purposes. A sliding mode control algorithm is derived for tracking a landing trajectory defined by a set of desired waypoints. An extended Kalman filer (EKF) is proposed to account for process and observation noises in the design of a state estimator. The effectiveness of the control algorithm is illustrated through a simulation example."--From the publisher's website.
- Marine vessels,
- control systems,
- fourier transforms
Publication DateDecember 10, 2014
Citation InformationJaime Rubio Hervas, Mahmut Reyhanoglu and Hui Tang. "Nonlinear Automatic Landing Control of Unmanned Aerial Vehicles on Moving Platforms Via a 3D Laser Radar" 10th International Conference on Mathematical Problems in Engineering, Aerospace and Sciences (ICNPAA) (2014)
Available at: http://works.bepress.com/mahmut_reyhanoglu/11/