Nonlinear automatic landing control of unmanned aerial vehicles on moving platforms via a 3D laser radar
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, 639798 (Singapore)
- Physical Sciences Department, Embry-Riddle Aeronautical University, Daytona Beach, FL 32114 (United States)
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 filter (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.
- OSTI ID:
- 22390806
- Journal Information:
- AIP Conference Proceedings, Vol. 1637, Issue 1; Conference: ICNPAA 2014: 10. International Conference on Mathematical Problems in Engineering, Aerospace and Sciences, Narvik (Norway), 15-18 Jul 2014; Other Information: (c) 2014 AIP Publishing LLC; Country of input: International Atomic Energy Agency (IAEA); ISSN 0094-243X
- Country of Publication:
- United States
- Language:
- English
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