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
N1 - Publisher Copyright:
© 2016 IEEE.
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 -