There are no files associated with this item.
Full metadata record
DC Field | Value | Language |
---|---|---|
dc.citation.startPage | 105288 | - |
dc.citation.title | CONTROL ENGINEERING PRACTICE | - |
dc.citation.volume | 128 | - |
dc.contributor.author | Xia, Kewei | - |
dc.contributor.author | Shin, Minho | - |
dc.contributor.author | Chung, Wonmo | - |
dc.contributor.author | Kim, Myunggun | - |
dc.contributor.author | Lee, Sangheon | - |
dc.contributor.author | Son, Hungsun | - |
dc.date.accessioned | 2023-12-21T13:36:24Z | - |
dc.date.available | 2023-12-21T13:36:24Z | - |
dc.date.created | 2022-10-24 | - |
dc.date.issued | 2022-11 | - |
dc.description.abstract | Autonomous landing of quadrotor unmanned aerial vehicles (UAVs) is a critical and challenging issue, especially on a moving target under complex terrain. This paper proposes a practicable solution that consists of a reference trajectory and a robust control strategy. More specifically, a continuous reference trajectory is planned to ensure the safety, where a feasible landing constraint is provided by introducing the sway motion of the target platform. Then, a robust hierarchical control strategy that exploits a saturated force controller and an attitude constraint torque controller is developed, where a dynamics estimator is employed to counteract the uncertain dynamics. Stability analysis indicates that the overall closed-loop system is uniformly ultimately bounded. Since the global positioning system (GPS) fails to provide an acceptable measurement for the precise landing, an ultra-wide band (UWB) positioning system is designed which possesses a 20-centimeter level of accuracy. To simulate a realistic scenario over the rough ground or sea condition, a motion platform with sway motion is utilized in the experiment facility. Flight experiments are performed to validate and assess the proposed strategy. | - |
dc.identifier.bibliographicCitation | CONTROL ENGINEERING PRACTICE, v.128, pp.105288 | - |
dc.identifier.doi | 10.1016/j.conengprac.2022.105288 | - |
dc.identifier.issn | 0967-0661 | - |
dc.identifier.scopusid | 2-s2.0-85136573866 | - |
dc.identifier.uri | https://scholarworks.unist.ac.kr/handle/201301/59871 | - |
dc.identifier.wosid | 000864942400001 | - |
dc.language | 영어 | - |
dc.publisher | PERGAMON-ELSEVIER SCIENCE LTD | - |
dc.title | Landing a quadrotor UAV on a moving platform with sway motion using robust control | - |
dc.type | Article | - |
dc.description.isOpenAccess | FALSE | - |
dc.relation.journalWebOfScienceCategory | Automation & Control Systems; Engineering, Electrical & Electronic | - |
dc.relation.journalResearchArea | Automation & Control Systems; Engineering | - |
dc.type.docType | Article | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.subject.keywordAuthor | Unmanned aerial vehicles (UAVs) | - |
dc.subject.keywordAuthor | Autonomous landing | - |
dc.subject.keywordAuthor | Robust control | - |
dc.subject.keywordAuthor | Attitude constraint | - |
dc.subject.keywordAuthor | Ultra-wide band (UWB) positioning system | - |
dc.subject.keywordPlus | UNMANNED AERIAL VEHICLE | - |
Items in Repository are protected by copyright, with all rights reserved, unless otherwise indicated.
Tel : 052-217-1404 / Email : scholarworks@unist.ac.kr
Copyright (c) 2023 by UNIST LIBRARY. All rights reserved.
ScholarWorks@UNIST was established as an OAK Project for the National Library of Korea.