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• W4293497071 endingPage "105288" @default.
• W4293497071 startingPage "105288" @default.
• W4293497071 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." @default.
• W4293497071 created "2022-08-29" @default.
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• W4293497071 date "2022-11-01" @default.
• W4293497071 modified "2023-10-18" @default.
• W4293497071 title "Landing a quadrotor UAV on a moving platform with sway motion using robust control" @default.
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• W4293497071 doi "https://doi.org/10.1016/j.conengprac.2022.105288" @default.
• W4293497071 hasPublicationYear "2022" @default.
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