dc.contributor.authorHervas, Jaime Rubio
dc.contributor.authorReyhanoglu, Mahmut
dc.contributor.authorTang, Hui
dc.identifier.citationHervas, J. R., Reyhanoglu, M., & Tang, H. (2014). Nonlinear automatic landing control of unmanned aerial vehicles on moving platforms via a 3D laser radar. AIP Conference Proceedings, 907-917.en_US
dc.description.abstractThis paper presents a motion tracking and control system for automatically landing Unmanned Aerial Vehicles (UAVs) on an oscillating platform using Laser Radar (LADAR) observations. The system itself is assumed to be mounted on a ship deck. A full nonlinear mathematical model is first introduced for the UAV. The ship motion is characterized by a Fourier transform based method which includes a realistic characterization of the sea waves. LADAR observation models are introduced and an algorithm to process those observations for yielding the relative state between the vessel and the UAV is presented, from which the UAV's state relative to an inertial frame can be obtained and used for feedback purposes. A sliding mode control algorithm is derived for tracking a landing trajectory defined by a set of desired waypoints. An extended Kalman filter (EKF) is proposed to account for process and observation noises in the design of a state estimator. The effectiveness of the control algorithm is illustrated through a simulation example.en_US
dc.format.extent11 p.en_US
dc.rights© 2014 American Institute of Physics. This paper was published in AIP Conference Proceedings and is made available as an electronic reprint (preprint) with permission of American Institute of Physics. The published version is available at: [http://dx.doi.org/10.1063/1.4904663]. One print or electronic copy may be made for personal use only. Systematic or multiple reproduction, distribution to multiple locations via electronic or other means, duplication of any material in this paper for a fee or for commercial purposes, or modification of the content of the paper is prohibited and is subject to penalties under law.en_US
dc.subjectSliding mode
dc.subjectNonlinear control
dc.subjectState estimation
dc.subjectExtended Kalman filter
dc.subjectLaser radar
dc.titleNonlinear automatic landing control of unmanned aerial vehicles on moving platforms via a 3D laser radaren_US
dc.typeConference Paper
dc.contributor.conferenceAIP Conference Proceedingsen_US
dc.contributor.schoolSchool of Mechanical and Aerospace Engineeringen_US
dc.description.versionPublished versionen_US

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