Nonlinear automatic landing control of unmanned aerial vehicles on moving platforms via a 3D laser radar
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...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Conference Paper |
| Language: | English |
| Published: |
2016
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| Online Access: | https://hdl.handle.net/10356/81916 http://hdl.handle.net/10220/39711 |
| _version_ | 1811696638757961728 |
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| author | Hervas, Jaime Rubio Reyhanoglu, Mahmut Tang, Hui |
| author2 | School of Mechanical and Aerospace Engineering |
| author_facet | School of Mechanical and Aerospace Engineering Hervas, Jaime Rubio Reyhanoglu, Mahmut Tang, Hui |
| author_sort | Hervas, Jaime Rubio |
| collection | NTU |
| description | 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. |
| first_indexed | 2024-10-01T07:42:33Z |
| format | Conference Paper |
| id | ntu-10356/81916 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T07:42:33Z |
| publishDate | 2016 |
| record_format | dspace |
| spelling | ntu-10356/819162023-03-04T17:08:04Z Nonlinear automatic landing control of unmanned aerial vehicles on moving platforms via a 3D laser radar Hervas, Jaime Rubio Reyhanoglu, Mahmut Tang, Hui School of Mechanical and Aerospace Engineering AIP Conference Proceedings UAV Sliding mode Nonlinear control State estimation Extended Kalman filter Laser radar Landing 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. Published version 2016-01-19T07:20:33Z 2019-12-06T14:42:59Z 2016-01-19T07:20:33Z 2019-12-06T14:42:59Z 2014 Conference Paper Hervas, J. R., Reyhanoglu, M., & Tang, H. (2014). Nonlinear automatic landing control of unmanned aerial vehicles on moving platforms via a 3D laser radar. AIP Conference Proceedings, 907-917. https://hdl.handle.net/10356/81916 http://hdl.handle.net/10220/39711 10.1063/1.4904663 en © 2014 American Institute of Physics. This paper was published in AIP Conference Proceedings and is made available as an electronic reprint (preprint) with permission of American Institute of Physics. The published version is available at: [http://dx.doi.org/10.1063/1.4904663]. One print or electronic copy may be made for personal use only. Systematic or multiple reproduction, distribution to multiple locations via electronic or other means, duplication of any material in this paper for a fee or for commercial purposes, or modification of the content of the paper is prohibited and is subject to penalties under law. 11 p. application/pdf |
| spellingShingle | UAV Sliding mode Nonlinear control State estimation Extended Kalman filter Laser radar Landing Hervas, Jaime Rubio Reyhanoglu, Mahmut Tang, Hui Nonlinear automatic landing control of unmanned aerial vehicles on moving platforms via a 3D laser radar |
| title | Nonlinear automatic landing control of unmanned aerial vehicles on moving platforms via a 3D laser radar |
| title_full | Nonlinear automatic landing control of unmanned aerial vehicles on moving platforms via a 3D laser radar |
| title_fullStr | Nonlinear automatic landing control of unmanned aerial vehicles on moving platforms via a 3D laser radar |
| title_full_unstemmed | Nonlinear automatic landing control of unmanned aerial vehicles on moving platforms via a 3D laser radar |
| title_short | Nonlinear automatic landing control of unmanned aerial vehicles on moving platforms via a 3D laser radar |
| title_sort | nonlinear automatic landing control of unmanned aerial vehicles on moving platforms via a 3d laser radar |
| topic | UAV Sliding mode Nonlinear control State estimation Extended Kalman filter Laser radar Landing |
| url | https://hdl.handle.net/10356/81916 http://hdl.handle.net/10220/39711 |
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