Nonlinear automatic landing control of unmanned aerial vehicles on moving platforms via a 3D laser radar

Jaime Rubio Hervas, Mahmut Reyhanoglu, Hui Tang

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

5 Citations (Scopus)

Abstract

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.
Original languageEnglish
Title of host publication10th International Conference on Mathematical Problems in Engineering, Aerospace and Sciences, ICNPAA 2014
PublisherAmerican Institute of Physics Inc.
Pages907-917
Number of pages11
Volume1637
ISBN (Electronic)9780735412767
DOIs
Publication statusPublished - 10 Dec 2014
Externally publishedYes
Event10th International Conference on Mathematical Problems in Engineering, Aerospace and Sciences, ICNPAA 2014 - Narvik University, Narvik, Norway
Duration: 15 Jul 201418 Jul 2014

Conference

Conference10th International Conference on Mathematical Problems in Engineering, Aerospace and Sciences, ICNPAA 2014
CountryNorway
CityNarvik
Period15/07/1418/07/14

Keywords

  • extended Kalman filter
  • landing.
  • laser radar
  • nonlinear control
  • sliding mode
  • state estimation
  • UAV

ASJC Scopus subject areas

  • Physics and Astronomy(all)

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