Sliding Mode Guidance and Control for UAV Carrier Landing

Lee, Seok-Won; Lee, Jihoon; Lee, Somang; Choi, Hyunjin; Kim, Youdan; Kim, Taegyun; Suk, Jinyoung

doi:10.1109/taes.2018.2867259

Cited by 41 publications

(20 citation statements)

References 25 publications

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“…The landing sequence of an aircraft is discussed in this section. Autonomous carrier landing is divided into phases; the approach and descent phase, and the touchdown phase 4 . The carrier aircraft's dynamics possess nonlinearity and cross‐coupling, therefore an appropriate control system must be designed.…”

Section: Problem Statementmentioning

confidence: 99%

“…The translational motion of the carrier at its center can be intuitively broken into maneuvering and seakeeping motion 4,42 . The maneuvering is the motion of the carrier by ship controls and seakeeping is disturbing element in motion emerged due to wave excitation, given as:

{\dot{X}}_{c} = {\dot{X}}_{m} + {\dot{X}}_{w}

{\dot{X}}_{c} = V_{s} [\begin{matrix} \cos χ_{s} \\ \sin χ_{s} \\ 0 \end{matrix}] + [\begin{matrix} prefix- \sin χ_{s} & \cos χ_{s} & 0 \\ \sin χ_{s} & \cos χ_{s} & 0 \\ 0 & 0 & 1 \end{matrix}] [\begin{matrix} {\overset{x}{true}}_{s u} \\ {\overset{y}{true}}_{s w} \\ {\overset{z}{true}}_{h e} \end{matrix}]

where

V_{s}, χ_{s}

are representing the nominal ship speed and heading angle, respectively, and

{\dot{x}}_{s u}, {\dot{y}}_{s w}, {\dot{z}}_{h e}

are the waves excited motion components, named as surge, sway, and heave, respectively, given as:

\{\begin{matrix} \overset{x}{true} \end{matrix}

…”

Section: Problem Statementmentioning

confidence: 99%

“…Recent technological advancements have enabled engineers and researchers to address this difficulty by developing autonomous carrier landing systems (ACLSs) for an aircraft, intending to replace the manual control system. In recent years, several conventional control methods have been suggested for development of the ACLS 2‐10 . In References 11‐13, proportional‐integral‐derivative (PID) control based ALS have been proposed that maintains the required flight altitude and descent velocity.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Adaptive preview control with deck motion compensation for autonomous carrier landing of an aircraft

Bhatia

JiangJu

KumarAakash

et al. 2021

Adaptive Control & Signal

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In this article, an autonomous carrier landing problem of an aircraft is addressed by developing an autonomous carrier landing system (ACLS) composed of previewable guidance and control systems. In the guidance system, an appropriate touchdown point is estimated by predicting the seakeeping motion of the deck by unscented Kalman filtering technique, which is then utilized to adjust the reference glide path and produce an effective deck motion compensation, indispensable for a safe landing. The adaptive preview control (APC) scheme is proposed, which utilizes future reference information. The feedback and feedforward adaptive gains are derived through the Lyapunov stability theorem ensuring better tracking response and disturbance rejection. Hence, the asymptotic stability of the closed‐loop system is guaranteed. The simulation results depict better performance of the proposed ACLS in the presence of deck fluctuations and airwake disturbance compared with PID and LMI based preview control schemes.

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Section: Problem Statementmentioning

confidence: 99%

{\dot{X}}_{c} = {\dot{X}}_{m} + {\dot{X}}_{w}

{\dot{X}}_{c} = V_{s} [\begin{matrix} \cos χ_{s} \\ \sin χ_{s} \\ 0 \end{matrix}] + [\begin{matrix} prefix- \sin χ_{s} & \cos χ_{s} & 0 \\ \sin χ_{s} & \cos χ_{s} & 0 \\ 0 & 0 & 1 \end{matrix}] [\begin{matrix} {\overset{x}{true}}_{s u} \\ {\overset{y}{true}}_{s w} \\ {\overset{z}{true}}_{h e} \end{matrix}]

where

V_{s}, χ_{s}

are representing the nominal ship speed and heading angle, respectively, and

{\dot{x}}_{s u}, {\dot{y}}_{s w}, {\dot{z}}_{h e}

are the waves excited motion components, named as surge, sway, and heave, respectively, given as:

\{\begin{matrix} \overset{x}{true} \end{matrix}

…”

Section: Problem Statementmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Adaptive preview control with deck motion compensation for autonomous carrier landing of an aircraft

Bhatia

JiangJu

KumarAakash

et al. 2021

Adaptive Control & Signal

View full text Add to dashboard Cite

show abstract

“…To deal with the complex quadrotor UAVs, numerous advanced control methodologies have been devised (Benallegue et al, 2008; Dong et al, 2015; Dydek et al, 2013; Lee et al, 2014, 2019; Lee, 2013; Miranda and Aguilar, 2020; Pan et al, 2017; Reinoso et al, 2016; Shi et al, 2019; Wang et al, 2019a; Xiong and Zheng, 2014; Yin et al, 2014; Yu et al, 2019; Zhang et al, 2011; Zheng et al, 2014, just to reference a few). Notably, the proportional-differential/proportional-integral-differential (PD/PID) control, because of its salient advantages of simple structure and high stability, is becoming one of the most widely used and accepted potential candidate control methods for quadrotor UAVs.…”

Section: Introductionmentioning

confidence: 99%

Compound robust tracking control of disturbed quadrotor unmanned aerial vehicles: A data-driven cascade control approach

Weng

Dong

Wang

et al. 2021

Transactions of the Institute of Measurement and Control

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In this paper, the robust trajectory tracking control problem of disturbed quadrotor unmanned aerial vehicles (UAVs) with disturbances, uncertainties and unmodeled dynamics is addressed, by devising a novel compound robust tracking control (CRTC) approach via data-driven cascade control technique. By deploying the data-driven philosophy, a data-based sliding-mode surface is proposed, and thereby contributing to strong adaptability to nonlinearity and model-unknown properties of the UAVs. By utilizing the backstepping technique, virtual control strategy and a novel cascaded compound robust PD control structure, the attitude and position subsystems are efficiently cohered such that a data-driven cascaded compound robust controller containing both PD control and sliding-mode control can be developed to conquer the lumped disturbances induced by uncertainties, disturbances and unmodeled dynamics. Eventually, the asymptotic convergence of the tracking errors with respect to both attitude and position subsystems can be guaranteed rigorously. Simulation studies on a prototype quadrotor UAV are performed to evaluate the efficacy and superiority of the devised CRTC method.

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“…Undoubtedly, the carrier landing is considered one of the most difficult operations in the Navy, aircraft has to follow the reference glide path very strictly while regulating the airspeed to land successfully on a very narrow touchdown area. To address such problems, autonomous carrier landing systems (ACLS) have been developed with the evolution of technology (Lee et al, 2018;Zheng et al, 2017aZheng et al, , 2017b. The conventional ACLS produces desired landing commands and control signals to accurately land the carrierbased aircraft on a carrier's deck under different sea states (Urnes and Hess, 1985).…”

Section: Introductionmentioning

confidence: 99%

Robust adaptive preview control design for autonomous carrier landing of F/A-18 aircraft

Bhatia¹,

Jiang²,

Zhen³

et al. 2021

AEAT

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Purpose The purpose of this paper is to design an innovative autonomous carrier landing system (ACLS) using novel robust adaptive preview control (RAPC) method, which can assure safe and successful autonomous carrier landing under the influence of airwake disturbance and irregular deck motion. To design a deck motion predictor based on an unscented Kalman filter (UKF), which predicts the touchdown point, very precisely. Design/methodology/approach An ACLS is comprising a UKF based deck motion predictor, a previewable glide path module and a control system. The previewable information is augmented with the system and then latitude and longitudinal controllers are designed based on the preview control scheme, in which the robust adaptive feedback and feedforward gain’s laws are obtained through Lyapunov stability theorem and linear matrix inequality approach, guarantying the closed-loop system’s asymptotic stability. Findings The autonomous carrier landing problem is solved by proposing robust ACLS, which is validated through numerical simulation in presence of sea disturbance and time-varying external disturbances. Practical implications The ACLS is designed considering the practical aspects of the application, presenting superior performance with extended robustness. Originality/value The novel RAPC, relative motion-based guidance system and deck motion compensation mechanism are developed and presented, never been implemented for autonomous carrier landing operations.

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Sliding Mode Guidance and Control for UAV Carrier Landing

Cited by 41 publications

References 25 publications

Adaptive preview control with deck motion compensation for autonomous carrier landing of an aircraft

Adaptive preview control with deck motion compensation for autonomous carrier landing of an aircraft

Compound robust tracking control of disturbed quadrotor unmanned aerial vehicles: A data-driven cascade control approach

Robust adaptive preview control design for autonomous carrier landing of F/A-18 aircraft

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