Automatic landing control of Unmanned Aerial Vehicles on moving platforms

Author

Hervas, Jaime Rubio ; Reyhanoglu, M. ; Hui Tang

Author_Institution

Sch. of Mech. & Aerosp. Eng., Nanyang Technol. Univ., Singapore, Singapore

fYear

2014

fDate

1-4 June 2014

Firstpage

69

Lastpage

74

Abstract

This paper studies the landing control problem for Unmanned Aerial Vehicles (UAVs) on an oscillating platform such as a ship deck in a rough sea. A full nonlinear mathematical model is first introduced for the UAV in an inertial frame. A Fourier transform based method is then employed for a realistic characterization of the sea motion and the ship dynamics. Finally, a landing control algorithm is developed based on the dynamics of the UAV relative to the ship. The effectiveness of the control algorithm is illustrated through a simulation example.

Keywords

Fourier transforms; autonomous aerial vehicles; robot dynamics; ships; vehicle dynamics; Fourier transform based method; UAV dynamics; automatic landing control; inertial frame; moving platform; nonlinear mathematical model; oscillating platform; sea motion characterization; ship dynamics; unmanned aerial vehicles; Aerodynamics; Aircraft; Equations; Heuristic algorithms; Marine vehicles; Mathematical model; Vectors;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics (ISIE), 2014 IEEE 23rd International Symposium on

Conference_Location

Istanbul

Type

conf

DOI

10.1109/ISIE.2014.6864588

Filename

6864588