{"title":"Landing control of a quadrotor on a moving platform with unknown speed in the field of view","authors":"Junyan Li, Chunli Zhu, Yuezu Lv, Lei Chen","doi":"10.1002/asjc.3522","DOIUrl":null,"url":null,"abstract":"<p>This paper proposes a solution for the landing of quadrotor UAV on moving platform with unknown speed. To ensure landing target within the field of view, a feasible region is first defined with the angle between the centroid of quadrotor and target in an expected range. Then an adaptive controller is designed to complete the landing process constrained in the feasible region for all targets with smaller speed than a control gain. Furthermore, to restrain the disturbance of target speed, the controller is improved to regulate landing process with an induced angle. The robust controller restrains the possible oscillation caused by uncertainty of target speed. Both numerical simulations and real-world experiment validated the proposed solution.</p>","PeriodicalId":55453,"journal":{"name":"Asian Journal of Control","volume":"27 3","pages":"1416-1426"},"PeriodicalIF":2.7000,"publicationDate":"2024-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Asian Journal of Control","FirstCategoryId":"94","ListUrlMain":"https://onlinelibrary.wiley.com/doi/10.1002/asjc.3522","RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
引用次数: 0
Abstract
This paper proposes a solution for the landing of quadrotor UAV on moving platform with unknown speed. To ensure landing target within the field of view, a feasible region is first defined with the angle between the centroid of quadrotor and target in an expected range. Then an adaptive controller is designed to complete the landing process constrained in the feasible region for all targets with smaller speed than a control gain. Furthermore, to restrain the disturbance of target speed, the controller is improved to regulate landing process with an induced angle. The robust controller restrains the possible oscillation caused by uncertainty of target speed. Both numerical simulations and real-world experiment validated the proposed solution.
期刊介绍：
The Asian Journal of Control, an Asian Control Association (ACA) and Chinese Automatic Control Society (CACS) affiliated journal, is the first international journal originating from the Asia Pacific region. The Asian Journal of Control publishes papers on original theoretical and practical research and developments in the areas of control, involving all facets of control theory and its application.
Published six times a year, the Journal aims to be a key platform for control communities throughout the world.
The Journal provides a forum where control researchers and practitioners can exchange knowledge and experiences on the latest advances in the control areas, and plays an educational role for students and experienced researchers in other disciplines interested in this continually growing field. The scope of the journal is extensive.
Topics include:
The theory and design of control systems and components, encompassing:
Robust and distributed control using geometric, optimal, stochastic and nonlinear methods
Game theory and state estimation
Adaptive control, including neural networks, learning, parameter estimation
and system fault detection
Artificial intelligence, fuzzy and expert systems
Hierarchical and man-machine systems
All parts of systems engineering which consider the reliability of components and systems
Emerging application areas, such as:
Robotics
Mechatronics
Computers for computer-aided design, manufacturing, and control of
various industrial processes
Space vehicles and aircraft, ships, and traffic
Biomedical systems
National economies
Power systems
Agriculture
Natural resources.
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