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Disturbance observer-based autonomous landing control of unmanned helicopters on moving shipboard

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journal contribution
posted on 18.10.2021, 12:58 authored by Xin Yu, Jun YangJun Yang, Shihua Li
In this paper, the autonomous landing control issue on moving shipboard is investigated for unmanned helicopters subject to disturbances. The issue is studied by stabilizing the error system of the helicopter and the shipboard. The landing process is divided into two phases, i.e., homing phase, where a hierarchical double-loop control scheme is developed such that the helicopter is forced to hover synchronously at a certain altitude over the shipboard, and landing phase, where a composite landing control scheme is proposed such that the helicopter lands vertically on the shipboard in synchronization with its attitudes. The velocity and acceleration information of the shipboard as well as lump disturbances is estimated through joint state and disturbance observers. The estimates are then incorporated into the baseline feedback controller, formulating composite active anti-disturbance landing control schemes. A continuous terminal sliding mode control method is proposed for the feedback controller design, which not only effectively mitigates the chattering of the control action, but also simplifies the design process of the controller. Numerical simulations demonstrate the effectiveness and superiorities of the proposed control schemes.

Funding

National Natural Science Foundation of China under Grants 61973080 and 61973081

Shenzhen Science and Technology Innovation Committee (STIC) under Grant JCYJ20190813152603594

History

School

  • Aeronautical, Automotive, Chemical and Materials Engineering

Department

  • Aeronautical and Automotive Engineering

Published in

Nonlinear Dynamics

Volume

102

Issue

1

Pages

131 - 150

Publisher

Springer Science and Business Media LLC

Version

AM (Accepted Manuscript)

Rights holder

© Springer Nature

Publisher statement

This paper was accepted for publication in the journal Nonlinear Dynamics and the definitive published version is available at https://doi.org/10.1007/s11071-020-05915-w.

Acceptance date

24/08/2020

Publication date

2020-09-15

Copyright date

2020

ISSN

0924-090X

eISSN

1573-269X

Language

en

Depositor

Dr Jun Yang. Deposit date: 15 October 2021