journal of franklin institute.pdf (2.12 MB)
Download file

Adaptive nonlinear relative motion control of quadrotors in autonomous shipboard landings

Download (2.12 MB)
journal contribution
posted on 20.10.2020, 10:18 by Liang Sun, Yanting Huang, Zewei Zheng, Bing Zhu, Jingjing JiangJingjing Jiang
The relative motion control for the unmanned quadrotors autonomous shipboard landings is investigated in this study. The shipboard landing missions are divided into two phases including the position approaching phase and the vertical landing phase. Relative pose kinematics and dynamics are modeled in the quadrotor’s body-fixed frame, where the kinematic couplings resulted from the difference between ship’s centre of mass and desired landing site and the unknown external disturbances of two vehicles are considered in the modeling and control design. In the position approaching phase, because of the under-actuated property of quadrotors, the adaptive backstepping technique is combined with an auxiliary system and a command filter to develop the guidance and control laws. Subsequently, the relative altitude-attitude controller is designed for the vertical landing phase. Stability analysis shows that the position approaching errors in the first phase and the landing errors in the second phase ultimately converge to small neighborhoods of zero, and numerical simulation validates the effectiveness of the proposed strategy.

Funding

National Natural Science Foundation of China [grant number 61903025]

China Scholarship Council [grant number 201906465028]

Beijing Natural Science Foundation [grant number 4202038]

Fundamental Research Funds for the Central Universities [grant numbers FRF-BD-19-002A, FRF-GF-18-0028B]

History

School

  • Aeronautical, Automotive, Chemical and Materials Engineering

Department

  • Aeronautical and Automotive Engineering

Published in

Journal of the Franklin Institute

Volume

357

Issue

18

Pages

13569 - 13592

Publisher

Elsevier

Version

AM (Accepted Manuscript)

Rights holder

© The Franklin Institute

Publisher statement

This paper was accepted for publication in the journal Journal of the Franklin Institute and the definitive published version is available at https://doi.org/10.1016/j.jfranklin.2020.10.014

Acceptance date

07/10/2020

Publication date

2020-10-17

Copyright date

2020

ISSN

0016-0032

Language

en

Depositor

Dr Jingjing Jiang Deposit date: 17 October 2020