Ship deck landing of a quadrotor using the invariant ellipsoid technique

Chun Kiat Tan, Jianliang Wang

Research output: Chapter in Book/Conference proceedingConference contributionpeer-review

4 Citations (Scopus)

Abstract

Vertical takeoff and landing (VTOL) unmanned aerial vehicle (UAV) operations on ships enhance the mission capabilities for military and civilian users. However, landing operations on a ship requires precise control to avoid collision with the ship superstructures. Current approach involves modelling and prediction of the ship deck motion. However, model mismatch often results in a non-zero bounded error response. The approach in this paper eliminates modelling of the ship deck motion and focuses on an analysis method based on the invariant ellipsoid technique to obtain an optimal gain such that the tracking error is restricted to within an optimal bound. Simulations are performed using a realistic ship deck model with the quadrotor tracking a point at a prescribed height above the ship deck before landing. The performance of the proposed controller on a quadrotor was evaluated and is shown to achieve the control objective.

Original languageEnglish
Title of host publicationProceedings of the SICE Annual Conference
PublisherSociety of Instrument and Control Engineers (SICE)
Pages1443-1448
Number of pages6
ISBN (Electronic)9784907764463
DOIs
Publication statusPublished - 23 Oct 2014
Externally publishedYes
Event2014 53rd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2014 - Sapporo, Japan
Duration: 9 Sept 201412 Sept 2014

Publication series

NameProceedings of the SICE Annual Conference

Conference

Conference2014 53rd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2014
Country/TerritoryJapan
CitySapporo
Period9/09/1412/09/14

Keywords

  • Flight Control
  • Guidance

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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