A Control Architecture for Time‐Optimal Landing of a Quadrotor Onto a Moving Platform

Hu, Biao; Lu, Lu; Mishra, Sandipan

doi:10.1002/asjc.1693

Cited by 15 publications

(14 citation statements)

References 28 publications

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“…In the first experiment, we perturb the aircraft with a crosswind. e second experiment consists of comparison among our control strategy (OCS), and the continuous and smooth PID-based strategy (PIDS), and an adaptive strategy (AS); the latter two are, respectively, proposed in [4,13]. Finally, the third experiment is also a performance comparison, among OCS and a version of the discontinuous twisting-based strategy (TBS), found in [31].…”

Section: Numerical Simulationsmentioning

confidence: 99%

“…and d is the gain parameter estimation of K g (h) based on the projective adaptive control law proposed in [13] and the control gains fixed as k p � 1, k d � 2, and k i � 1, with u r proposed as in (41). We show the obtained results from the numerical simulation in Figure 3.…”

Section: Second Experimentmentioning

confidence: 99%

“…Other exciting works based on the predictive control approach to solving this control task are [9][10][11][12]. In [13], the UAV landing problem is addressed using a three-step procedure: motion estimation, trajectory generation, and tracking control, where the latter is accomplished as an optimal control. e optimal control approach for landing UAVs is also used in two recently published works [14,15].…”

Section: Introductionmentioning

confidence: 99%

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A Robust Control Strategy for Landing an Unmanned Aerial Vehicle on a Vertically Moving Platform

et al. 2020

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In this work, we solve the uncertain unmanned aerial vehicle smooth landing problem over a moving platform, assuming that the aircraft position relative to the platform and its acceleration is always measurable. The landing task is carried out by an output-feedback robust controller, together with a repulsive force. The robust controller controls the nominal model, accomplishes the needed tracking trajectory, and counteracts the unknown uncertainties. To assure that the aircraft is always above the platform, we include a repulsive force that only works in a small vicinity of the platform. To estimate the relative aircraft velocity and platform acceleration, we use a supertwisting-based observer, assuring finite-time convergence of these signals. This fact allowed us to design the feedback state stabilizer independently of the observer design (in accordance with the separation principle). We confirmed the effectiveness of our control approach by convincing numerical simulations.

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Section: Numerical Simulationsmentioning

confidence: 99%

Section: Second Experimentmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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A Robust Control Strategy for Landing an Unmanned Aerial Vehicle on a Vertically Moving Platform

et al. 2020

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“…The dynamic model of a quadcopter has been reported in many related studies [56][57][58][59][60][61][62][63][64][65][66][67]. In this section, the mathematic model is briefly presented.…”

Section: Mathematic Model Of a Quadcoptermentioning

confidence: 99%

Nonlinear Control for Autonomous Trajectory Tracking While Considering Collision Avoidance of UAVs Based on Geometric Relations

2019

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Trajectory tracking with collision avoidance for a multicopter is solved based on geometrical relations. In this paper, a new method is proposed for a multicopter to move from the start position to a desired destination and track a pre-planned trajectory, while avoiding collisions with obstacles. The controller consists of two parts: First, a tracking control is introduced based on the errors between the relative position of the multicopter and the reference path. Second, once the obstacles with a high possibility of collision are detected, a boundary sphere/cylinder of the obstacle is generated by the dimensions of the vehicle and the obstacles, so as to define the safety and risk areas. Afterwards, from the relation between the vehicle’s motion direction, and the tangential lines from the vehicle’s current position to the sphere/cylinder of the obstacle, a collision detection angle is computed to decide the fastest direction to take in order to avoid a collision. The obstacle/collision avoidance control is activated locally when an object is close, and null if the vehicle moves away from the obstacles. The velocity control law and the guidance law are obtained from the Lyapunov stability. In addition, a proportional controller is used at the end of vehicle’s journey to ensure the vehicle stops at the target position. A numerical simulation in different scenarios was performed to prove the effectiveness of the proposed algorithm.

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“…Therefore, the problem of landing onto mobile targets has been investigated. The authors of [14] proposed a vision-based solution for the problem of quadcopter landing onto a heaving (vertically moving) platform. Since this study makes use of a motion capture system, it is not applicable for outdoor applications.…”

Section: Introductionmentioning

confidence: 99%

Autonomous Quadcopter Precision Landing Onto a Heaving Platform: New Method and Experiment

et al. 2020

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Nowadays, with the increasing popularity of quadcopter unmanned aerial vehicles in several real-world applications, achieving a fully autonomous quadcopter flight has become an imperative topic investigated in many studies. One of the most pressing issues in such a topic is the precision landing task, which always is devastatingly influenced by the ground effect and external disturbances. In this paper, we present an autonomous quadcopter landing algorithm allowing the vehicle to land robustly and precisely onto a heaving platform. Firstly, a robust control algorithm addressing the altitude flight under the ground effect and external disturbances is derived. We strictly prove the closed-loop system stability by using the Lyapunov theory. Secondly, a landing target state estimator is proposed to provide state estimations of the moving landing target. In addition, we propose a landing procedure to ensure the landing task is achieved safely and reliably. Finally, we use a DJI-F450 drone equipped with an infrared sensor and a laser ranging sensor as the experimental quadcopter platform and conduct experiments to evaluate the performance of our new algorithm in real flight conditions. The experimental results demonstrate the effectiveness of the proposed method. INDEX TERMS Autonomous landing, precision landing, moving target, quadcopter, heaving platform, ship deck, robust control, sliding mode control, disturbance observer.

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A Control Architecture for Time‐Optimal Landing of a Quadrotor Onto a Moving Platform

Cited by 15 publications

References 28 publications

A Robust Control Strategy for Landing an Unmanned Aerial Vehicle on a Vertically Moving Platform

A Robust Control Strategy for Landing an Unmanned Aerial Vehicle on a Vertically Moving Platform

Nonlinear Control for Autonomous Trajectory Tracking While Considering Collision Avoidance of UAVs Based on Geometric Relations

Autonomous Quadcopter Precision Landing Onto a Heaving Platform: New Method and Experiment

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