Relative motion modeling and control for autonomus UAV carrier landing

Ming Zhu; Zhenghao Jin; Zewei Zheng; Liang Sun

doi:10.1109/CCDC.2016.7532153

Relative motion modeling and control for autonomus UAV carrier landing

Ming Zhu
, Zhenghao Jin
, Zewei Zheng
, Liang Sun

Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

In this paper, the relative motion model and control strategy for autonomous unmanned aerial vehicle(UAV) carrier landing are addressed. Firstly, a coupled six degrees of freedom(6-DOF) non-linear relative motion model is established from (6-DOF) UAV and carrier models. Then the (6-DOF) relative motion model is simplified to the four degree of freedom (4-DOF) model to facilitate the control design, because of the underactuated characteristic of two vehicles. Secondly, the feedback linearization control law is proposed to control the UAV towards the aircraft carrier with constant forward, vertical velocity and lateral position and yaw angle. Finally, simulation results demonstrate the effectiveness of the proposed control system.

Original language	English
Title of host publication	Proceedings of the 28th Chinese Control and Decision Conference, CCDC 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	6415-6421
Number of pages	7
ISBN (Electronic)	9781467397148
DOIs	https://doi.org/10.1109/CCDC.2016.7532153
State	Published - 3 Aug 2016
Event	28th Chinese Control and Decision Conference, CCDC 2016 - Yinchuan, China Duration: 28 May 2016 → 30 May 2016

Publication series

Name	Proceedings of the 28th Chinese Control and Decision Conference, CCDC 2016

Conference

Conference	28th Chinese Control and Decision Conference, CCDC 2016
Country/Territory	China
City	Yinchuan
Period	28/05/16 → 30/05/16

Keywords

4-DOF Control
Carrier Landing Control
Feedback Linearization
UAV

Access to Document

10.1109/CCDC.2016.7532153

Cite this

Zhu, M., Jin, Z., Zheng, Z., & Sun, L. (2016). Relative motion modeling and control for autonomus UAV carrier landing. In Proceedings of the 28th Chinese Control and Decision Conference, CCDC 2016 (pp. 6415-6421). Article 7532153 (Proceedings of the 28th Chinese Control and Decision Conference, CCDC 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCDC.2016.7532153

@inproceedings{8e568fcf24354e96a9a766c5f74eadcd,

title = "Relative motion modeling and control for autonomus UAV carrier landing",

abstract = "In this paper, the relative motion model and control strategy for autonomous unmanned aerial vehicle(UAV) carrier landing are addressed. Firstly, a coupled six degrees of freedom(6-DOF) non-linear relative motion model is established from (6-DOF) UAV and carrier models. Then the (6-DOF) relative motion model is simplified to the four degree of freedom (4-DOF) model to facilitate the control design, because of the underactuated characteristic of two vehicles. Secondly, the feedback linearization control law is proposed to control the UAV towards the aircraft carrier with constant forward, vertical velocity and lateral position and yaw angle. Finally, simulation results demonstrate the effectiveness of the proposed control system.",

keywords = "4-DOF Control, Carrier Landing Control, Feedback Linearization, UAV",

author = "Ming Zhu and Zhenghao Jin and Zewei Zheng and Liang Sun",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 28th Chinese Control and Decision Conference, CCDC 2016 ; Conference date: 28-05-2016 Through 30-05-2016",

year = "2016",

month = aug,

day = "3",

doi = "10.1109/CCDC.2016.7532153",

language = "英语",

series = "Proceedings of the 28th Chinese Control and Decision Conference, CCDC 2016",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "6415--6421",

booktitle = "Proceedings of the 28th Chinese Control and Decision Conference, CCDC 2016",

address = "美国",

}

Zhu, M, Jin, Z, Zheng, Z & Sun, L 2016, Relative motion modeling and control for autonomus UAV carrier landing. in Proceedings of the 28th Chinese Control and Decision Conference, CCDC 2016., 7532153, Proceedings of the 28th Chinese Control and Decision Conference, CCDC 2016, Institute of Electrical and Electronics Engineers Inc., pp. 6415-6421, 28th Chinese Control and Decision Conference, CCDC 2016, Yinchuan, China, 28/05/16. https://doi.org/10.1109/CCDC.2016.7532153

Relative motion modeling and control for autonomus UAV carrier landing. / Zhu, Ming; Jin, Zhenghao; Zheng, Zewei et al.
Proceedings of the 28th Chinese Control and Decision Conference, CCDC 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 6415-6421 7532153 (Proceedings of the 28th Chinese Control and Decision Conference, CCDC 2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Relative motion modeling and control for autonomus UAV carrier landing

AU - Zhu, Ming

AU - Jin, Zhenghao

AU - Zheng, Zewei

AU - Sun, Liang

PY - 2016/8/3

Y1 - 2016/8/3

N2 - In this paper, the relative motion model and control strategy for autonomous unmanned aerial vehicle(UAV) carrier landing are addressed. Firstly, a coupled six degrees of freedom(6-DOF) non-linear relative motion model is established from (6-DOF) UAV and carrier models. Then the (6-DOF) relative motion model is simplified to the four degree of freedom (4-DOF) model to facilitate the control design, because of the underactuated characteristic of two vehicles. Secondly, the feedback linearization control law is proposed to control the UAV towards the aircraft carrier with constant forward, vertical velocity and lateral position and yaw angle. Finally, simulation results demonstrate the effectiveness of the proposed control system.

AB - In this paper, the relative motion model and control strategy for autonomous unmanned aerial vehicle(UAV) carrier landing are addressed. Firstly, a coupled six degrees of freedom(6-DOF) non-linear relative motion model is established from (6-DOF) UAV and carrier models. Then the (6-DOF) relative motion model is simplified to the four degree of freedom (4-DOF) model to facilitate the control design, because of the underactuated characteristic of two vehicles. Secondly, the feedback linearization control law is proposed to control the UAV towards the aircraft carrier with constant forward, vertical velocity and lateral position and yaw angle. Finally, simulation results demonstrate the effectiveness of the proposed control system.

KW - 4-DOF Control

KW - Carrier Landing Control

KW - Feedback Linearization

KW - UAV

UR - https://www.scopus.com/pages/publications/84983785826

U2 - 10.1109/CCDC.2016.7532153

DO - 10.1109/CCDC.2016.7532153

M3 - 会议稿件

AN - SCOPUS:84983785826

T3 - Proceedings of the 28th Chinese Control and Decision Conference, CCDC 2016

SP - 6415

EP - 6421

BT - Proceedings of the 28th Chinese Control and Decision Conference, CCDC 2016

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 28th Chinese Control and Decision Conference, CCDC 2016

Y2 - 28 May 2016 through 30 May 2016

ER -

Zhu M, Jin Z, Zheng Z, Sun L. Relative motion modeling and control for autonomus UAV carrier landing. In Proceedings of the 28th Chinese Control and Decision Conference, CCDC 2016. Institute of Electrical and Electronics Engineers Inc. 2016. p. 6415-6421. 7532153. (Proceedings of the 28th Chinese Control and Decision Conference, CCDC 2016). doi: 10.1109/CCDC.2016.7532153

Relative motion modeling and control for autonomus UAV carrier landing

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this