TY - GEN
T1 - Control Barrier Function Based Nonlinear Controller for Automatic Carrier Landing
AU - Zhou, Haitong
AU - Zheng, Zewei
AU - Guan, Zhiyuan
AU - Ma, Yunpeng
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/12/13
Y1 - 2020/12/13
N2 - This paper proposes a novel control barrier function(CBF) based output constraints path following control method, which is applied to automatic carrier landing system. The 6 degrees-of-freedom of aircraft model is converted to an affine model. Based on the transformed affine model, backstepping is used as the main control frame. In order to meet the demand of output constraints, a novel controller based on CBF is designed to constrian path following error. Due to automatic carrier landing system's relative-degree is 4, the exponential control barrier function(ECBF) which constrian path following error is adopted. The stability of the designed controller is verified by Lyapunov analysis. Simulation results show that the error requirement for path following in the final approach can be achieved, so the controller we designed has good path following performance.
AB - This paper proposes a novel control barrier function(CBF) based output constraints path following control method, which is applied to automatic carrier landing system. The 6 degrees-of-freedom of aircraft model is converted to an affine model. Based on the transformed affine model, backstepping is used as the main control frame. In order to meet the demand of output constraints, a novel controller based on CBF is designed to constrian path following error. Due to automatic carrier landing system's relative-degree is 4, the exponential control barrier function(ECBF) which constrian path following error is adopted. The stability of the designed controller is verified by Lyapunov analysis. Simulation results show that the error requirement for path following in the final approach can be achieved, so the controller we designed has good path following performance.
UR - https://www.scopus.com/pages/publications/85100075963
U2 - 10.1109/ICARCV50220.2020.9305317
DO - 10.1109/ICARCV50220.2020.9305317
M3 - 会议稿件
AN - SCOPUS:85100075963
T3 - 16th IEEE International Conference on Control, Automation, Robotics and Vision, ICARCV 2020
SP - 584
EP - 589
BT - 16th IEEE International Conference on Control, Automation, Robotics and Vision, ICARCV 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 16th IEEE International Conference on Control, Automation, Robotics and Vision, ICARCV 2020
Y2 - 13 December 2020 through 15 December 2020
ER -