TY - JOUR
T1 - Shipboard landing control enabled by an uncertainty and disturbance estimator
AU - Lu, Qi
AU - Ren, Beibei
AU - Parameswaran, Siva
N1 - Publisher Copyright:
Copyright © 2018 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.
PY - 2018/7
Y1 - 2018/7
N2 - This paper presents an autonomous landing control approach for a quadrotor unmanned aerial vehicle subject to wind disturbance and three-dimensional movements of the landing platform. To achieve an accurate relative position estimation of the quadrotor to the landing platform, a camera, a distance sensor, and a single-board computer are integrated to the quadrotor. The coordinate transformation is introduced to deal with the constraint that only the relative position information is available. The impacts of unknown ship motions are treated as part of the lumped uncertainty terms. Then, the uncertainty and disturbance estimator-based controllers are developed to achieve the accurate relative position control of the quadrotor while dealing with unknown ship motions, ground effect, state couplings, and external disturbances. The uncertainty and disturbance estimator filter is designed based on the internal model principle to enhance the performance of the developed controller. The reference model of the relative altitude controller is modified to ensure the accurate tracking of descending commands. To maximize the capability of the developed controller, a parameter selection guideline based on the derived ship heave acceleration spectrum is provided. Both numerical simulations and flight experiments are carried out to demonstrate the effectiveness of the developed approach.
AB - This paper presents an autonomous landing control approach for a quadrotor unmanned aerial vehicle subject to wind disturbance and three-dimensional movements of the landing platform. To achieve an accurate relative position estimation of the quadrotor to the landing platform, a camera, a distance sensor, and a single-board computer are integrated to the quadrotor. The coordinate transformation is introduced to deal with the constraint that only the relative position information is available. The impacts of unknown ship motions are treated as part of the lumped uncertainty terms. Then, the uncertainty and disturbance estimator-based controllers are developed to achieve the accurate relative position control of the quadrotor while dealing with unknown ship motions, ground effect, state couplings, and external disturbances. The uncertainty and disturbance estimator filter is designed based on the internal model principle to enhance the performance of the developed controller. The reference model of the relative altitude controller is modified to ensure the accurate tracking of descending commands. To maximize the capability of the developed controller, a parameter selection guideline based on the derived ship heave acceleration spectrum is provided. Both numerical simulations and flight experiments are carried out to demonstrate the effectiveness of the developed approach.
UR - http://www.scopus.com/inward/record.url?scp=85055710174&partnerID=8YFLogxK
U2 - 10.2514/1.G003073
DO - 10.2514/1.G003073
M3 - Article
AN - SCOPUS:85055710174
SN - 0731-5090
VL - 41
SP - 1502
EP - 1520
JO - Journal of Guidance, Control, and Dynamics
JF - Journal of Guidance, Control, and Dynamics
IS - 7
ER -