Disturbance observer-based saturated control for a quadrotor landing on a vessel

An autonomous vessel landing control algorithm of a quadrotor is investigated for the situation when the quadrotor hovers above the vessel with input saturation and disturbances. To facilitate the controller design, the problem of vessel landing is converted from general trajectory tracking problem of a quadrotor to a stabilization problem of relative motion. A fully actuated 4-DOF nonlinear relative altitude and attitude model with four control inputs is established. A nonlinear disturbance observer is developed to estimate the disturbances, while a compensation system is incorporated into the controller design to handle the input saturation. Then, a feedback controller is designed to synchronize the altitudes and attitudes of the quadrotor and the vessel. It is proved that the relative altitude and relative attitude converge to a small neighborhood of origin, and all states in the closed-loop system are uniformly ultimately bounded. Numerical simulation results demonstrate the effectiveness of the proposed controller.

[1]  Alexandra Moutinho,et al.  Hover Control of an UAV With Backstepping Design Including Input Saturations , 2008, IEEE Transactions on Control Systems Technology.

[2]  Chun Kiat Tan,et al.  Autonomous ship deck landing of a quadrotor using invariant ellipsoid method , 2016, IEEE Transactions on Aerospace and Electronic Systems.

[3]  Cheng Jin,et al.  Relative Motion Modeling and Control for a Quadrotor Landing on an Unmanned Vessel , 2017 .

[4]  En-Hui Zheng,et al.  Position and attitude tracking control for a quadrotor UAV. , 2014, ISA transactions.

[5]  David Hyunchul Shim,et al.  Autonomous Shipboard Landing Algorithm for Unmanned Helicopters in Crosswind , 2014, J. Intell. Robotic Syst..

[6]  Yong Wang,et al.  Coordinated landing control of Unmanned Aerial Vehicle , 2011, 2011 International Conference on Electronics, Communications and Control (ICECC).

[7]  Gaurav S. Sukhatme,et al.  Landing on a Moving Target Using an Autonomous Helicopter , 2003, FSR.

[8]  Yuechao Ma,et al.  Observer-based $$H_{\infty }$$H∞ control for nonlinear Markovian jump systems with time-delay and input saturation , 2018 .

[9]  Junyong Zhai,et al.  Disturbance observer-based robust control for trajectory tracking of wheeled mobile robots , 2016, Neurocomputing.

[10]  Wen-Hua Chen,et al.  Disturbance observer based control for nonlinear systems , 2004, IEEE/ASME Transactions on Mechatronics.

[11]  Gang Tao,et al.  Robust Backstepping Sliding-Mode Control and Observer-Based Fault Estimation for a Quadrotor UAV , 2016, IEEE Transactions on Industrial Electronics.

[12]  Abdelaziz Benallegue,et al.  Backstepping Control for a Quadrotor Helicopter , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[13]  Zongyu Zuo,et al.  Augmented L1 adaptive tracking control of quad-rotor unmanned aircrafts , 2014, IEEE Transactions on Aerospace and Electronic Systems.

[14]  Mihai Lungu,et al.  Application of H 2 /H ∞ and dynamic inversion techniques to aircraft landing control , 2015 .

[15]  Jun-Ho Oh,et al.  On the Design and Development of a Quadruped Robot Platform , 2010, Adv. Robotics.

[16]  Hassan K. Khalil,et al.  Nonlinear Systems Third Edition , 2008 .

[17]  Zongyu Zuo,et al.  Trajectory tracking control design with command-filtered compensation for a quadrotor , 2010 .

[18]  Maarouf Saad,et al.  Autonomous Landing of a Quadrotor on a Moving Platform , 2017, IEEE Transactions on Aerospace and Electronic Systems.

[19]  Kaustubh Pathak,et al.  Approaches for a tether-guided landing of an autonomous helicopter , 2006, IEEE Transactions on Robotics.

[20]  Roger Skjetne,et al.  A Nonlinear Ship Manoeuvering Model: Identification and adaptive control with experiments for a model ship , 2004 .

[21]  Sarangapani Jagannathan,et al.  Output Feedback Control of a Quadrotor UAV Using Neural Networks , 2010, IEEE Transactions on Neural Networks.

[22]  Wei Huo,et al.  Robust adaptive relative position tracking and attitude synchronization for spacecraft rendezvous , 2015 .

[23]  Tianjiang Hu,et al.  Stereo Vision Guiding for the Autonomous Landing of Fixed-Wing UAVs: A Saliency-Inspired Approach , 2016 .

[24]  Haibin Duan,et al.  Control parameter design for automatic carrier landing system via pigeon-inspired optimization , 2016 .

[25]  Peter Xiaoping Liu,et al.  Robust Control of Four-Rotor Unmanned Aerial Vehicle With Disturbance Uncertainty , 2015, IEEE Transactions on Industrial Electronics.

[26]  Wei Huo,et al.  Robust adaptive control of spacecraft proximity maneuvers under dynamic coupling and uncertainty , 2015 .

[27]  Mihai Lungu,et al.  Design of Automatic Landing Systems Using the H-inf Control and the Dynamic Inversion , 2016 .

[28]  David Hyunchul Shim,et al.  Landing Control on a Mobile Platform for Multi-copters using an Omnidirectional Image Sensor , 2016, J. Intell. Robotic Syst..