Non-linear position control for hover and automatic landing of unmanned aerial vehicles

Yang, Xilin, Garratt, Matt, & Pota, Hemanshu (2012) Non-linear position control for hover and automatic landing of unmanned aerial vehicles. IET Control Theory and Application, 6(7), pp. 911-920.

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Abstract

This study presents a disturbance attenuation controller for horizontal position stabilisation for hover and automatic landings of a rotary-wing unmanned aerial vehicle (RUAV) operating close to the landing deck in rough seas. Based on a helicopter model representing aerodynamics during the landing phase, a non-linear state feedback H∞ controller is designed to achieve rapid horizontal position tracking in a gusty environment. Practical constraints including flapping dynamics, servo dynamics and time lag effect are considered. A high-fidelity closed-loop simulation using parameters of the Vario XLC gas-turbine helicopter verifies performance of the proposed horizontal position controller. The proposed controller not only increases the disturbance attenuation capability of the RUAV, but also enables rapid position response when gusts occur. Comparative studies show that the H∞ controller exhibits performance improvement and can be applied to ship/RUAV landing systems.

Impact and interest:

6 citations in Scopus
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3 citations in Web of Science®

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113 since deposited on 26 Sep 2013
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ID Code: 62971
Item Type: Journal Article
Refereed: Yes
Keywords: H-infinity control, automatic landing
DOI: 10.1049/iet-cta.2011.0046
ISSN: 1751-8644
Subjects: Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > AEROSPACE ENGINEERING (090100)
Divisions: Current > Research Centres > Australian Research Centre for Aerospace Automation
Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright 2012 The Institution of Engineering and Technology
Copyright Statement: This paper is a postprint of a paper submitted to and accepted for publication in IET Control Theory and Application and is subject to Institution of Engineering and Technology Copyright. The copy of record is available at IET Digital Library
Deposited On: 26 Sep 2013 22:39
Last Modified: 30 Oct 2013 00:07

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