Autonomous MAV Landing on a Moving Platform with Estimation of Unknown Turbulent Wind Conditions
This paper presents an autonomous landing of a micro aerial vehicle (MAV) on a moving platform immersed in turbulent wind conditions. We estimate the 3D wind vector acting on the vehicle using a model-based and a deep learning-based approach. A disturbance-aware boundary layer sliding controller the...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
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American Institute of Aeronautics and Astronautics
2021
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| Online Access: | https://hdl.handle.net/1721.1/130565 |
| _version_ | 1826212473453150208 |
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| author | Paris, Aleix Tagliabue, Andrea How, Jonathan P |
| author2 | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics |
| author_facet | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics Paris, Aleix Tagliabue, Andrea How, Jonathan P |
| author_sort | Paris, Aleix |
| collection | MIT |
| description | This paper presents an autonomous landing of a micro aerial vehicle (MAV) on a moving platform immersed in turbulent wind conditions. We estimate the 3D wind vector acting on the vehicle using a model-based and a deep learning-based approach. A disturbance-aware boundary layer sliding controller then uses this estimation to generate a control input that provides trajectory tracking guarantees in the presence of unknown, but bounded disturbances. The approach presented integrates our previous works on control and estimation, and we show its performance in a challenging setting. The experiments show that our methods enable fast landing on a moving platform in turbulent, unknown wind conditions. |
| first_indexed | 2024-09-23T15:22:07Z |
| format | Article |
| id | mit-1721.1/130565 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T15:22:07Z |
| publishDate | 2021 |
| publisher | American Institute of Aeronautics and Astronautics |
| record_format | dspace |
| spelling | mit-1721.1/1305652022-10-02T02:30:33Z Autonomous MAV Landing on a Moving Platform with Estimation of Unknown Turbulent Wind Conditions Paris, Aleix Tagliabue, Andrea How, Jonathan P Massachusetts Institute of Technology. Department of Aeronautics and Astronautics This paper presents an autonomous landing of a micro aerial vehicle (MAV) on a moving platform immersed in turbulent wind conditions. We estimate the 3D wind vector acting on the vehicle using a model-based and a deep learning-based approach. A disturbance-aware boundary layer sliding controller then uses this estimation to generate a control input that provides trajectory tracking guarantees in the presence of unknown, but bounded disturbances. The approach presented integrates our previous works on control and estimation, and we show its performance in a challenging setting. The experiments show that our methods enable fast landing on a moving platform in turbulent, unknown wind conditions. Air Force Office of Scientific Research (Grant MURI FA9550-19-1-0386) 2021-05-10T20:34:48Z 2021-05-10T20:34:48Z 2021-01 2021-01 2021-05-07T15:20:18Z Article http://purl.org/eprint/type/ConferencePaper 9781624106095 https://hdl.handle.net/1721.1/130565 Paris, Aleix et al. "Autonomous MAV Landing on a Moving Platform with Estimation of Unknown Turbulent Wind Conditions." AIAA Scitech 2021 Forum, January 2021, virtual event, American Institute of Aeronautics and Astronautics, January 2021. © 2021 American Institute of Aeronautics and Astronautics Inc en http://dx.doi.org/10.2514/6.2021-0378 AIAA Scitech 2021 Forum Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf American Institute of Aeronautics and Astronautics Prof. How via Barbara Williams |
| spellingShingle | Paris, Aleix Tagliabue, Andrea How, Jonathan P Autonomous MAV Landing on a Moving Platform with Estimation of Unknown Turbulent Wind Conditions |
| title | Autonomous MAV Landing on a Moving Platform with Estimation of Unknown Turbulent Wind Conditions |
| title_full | Autonomous MAV Landing on a Moving Platform with Estimation of Unknown Turbulent Wind Conditions |
| title_fullStr | Autonomous MAV Landing on a Moving Platform with Estimation of Unknown Turbulent Wind Conditions |
| title_full_unstemmed | Autonomous MAV Landing on a Moving Platform with Estimation of Unknown Turbulent Wind Conditions |
| title_short | Autonomous MAV Landing on a Moving Platform with Estimation of Unknown Turbulent Wind Conditions |
| title_sort | autonomous mav landing on a moving platform with estimation of unknown turbulent wind conditions |
| url | https://hdl.handle.net/1721.1/130565 |
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