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 language | English |
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Title of host publication | 10th International Conference on Mathematical Problems in Engineering, Aerospace and Sciences, ICNPAA 2014 |
Publisher | American Institute of Physics Inc. |
Pages | 907-917 |
Number of pages | 11 |
Volume | 1637 |
ISBN (Electronic) | 9780735412767 |
DOIs | |
Publication status | Published - 10 Dec 2014 |
Externally published | Yes |
Event | 10th International Conference on Mathematical Problems in Engineering, Aerospace and Sciences, ICNPAA 2014 - Narvik University, Narvik, Norway Duration: 15 Jul 2014 → 18 Jul 2014 |
Conference
Conference | 10th International Conference on Mathematical Problems in Engineering, Aerospace and Sciences, ICNPAA 2014 |
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Country/Territory | Norway |
City | Narvik |
Period | 15/07/14 → 18/07/14 |
Keywords
- extended Kalman filter
- landing.
- laser radar
- nonlinear control
- sliding mode
- state estimation
- UAV
ASJC Scopus subject areas
- General Physics and Astronomy