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A Robust Control Strategy for Landing an Unmanned Aerial Vehicle on a Vertically Moving Platform
Joint Authors
Rubio, José de Jesús
Gutierrez-Frias, Octavio
Meda-Campana, Jesus A.
Suárez-Castañón, Miguel S.
Aguilar-Ibáñez, Carlos F.
Source
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-07-15
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Aguilar-Ibáñez, Carlos F.& Suárez-Castañón, Miguel S.& Gutierrez-Frias, Octavio& Rubio, José de Jesús& Meda-Campana, Jesus A.. 2020. A Robust Control Strategy for Landing an Unmanned Aerial Vehicle on a Vertically Moving Platform. Complexity،Vol. 2020, no. 2020, pp.1-13.
https://search.emarefa.net/detail/BIM-1140038
Modern Language Association (MLA)
Aguilar-Ibáñez, Carlos F.…[et al.]. A Robust Control Strategy for Landing an Unmanned Aerial Vehicle on a Vertically Moving Platform. Complexity No. 2020 (2020), pp.1-13.
https://search.emarefa.net/detail/BIM-1140038
American Medical Association (AMA)
Aguilar-Ibáñez, Carlos F.& Suárez-Castañón, Miguel S.& Gutierrez-Frias, Octavio& Rubio, José de Jesús& Meda-Campana, Jesus A.. A Robust Control Strategy for Landing an Unmanned Aerial Vehicle on a Vertically Moving Platform. Complexity. 2020. Vol. 2020, no. 2020, pp.1-13.
https://search.emarefa.net/detail/BIM-1140038
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1140038