Adaptive control for multi-rotor UAVs autonomous ship landing with mission planning

Penentuan Orientasi dan Translasi Gerakan UAV menggunakan Data Fusion berbasis Kalman Filter

“…UAV (Unmanned Aircraft Vehicle) jenis quadrotor merupakan salah satu jenis pesawat tanpa awak yang banyak dikembangkan. Jenis pesawat ini banyak digunakan baik di kalangan militer maupun sipil karena kemudahannya dalam melakukan take-off dan landing di tempat dengan luas sangat terbatas [1]. UAV ini dapat menggunakan sistem kendali jauh (remote) atau autonomous.…”

Adaptive nonlinear relative motion control of quadrotors in autonomous shipboard landings

“…always holds. According to ( 25), (28), and m > 0, we can obtain u 0 and T > 0 instead of T ≥ 0, thus the singularity of the thrust force T can be avoided and the singularity of the desired attitude σ d is also avoided from (27).…”

“…An invariant ellipsoid-based method for the controller design and gain synthesis of a lowcost quadrotor autonomous landing system subjected to wind disturbance and measurement noise was proposed by [23]- [25]. Then, a class of relative motion model was developed for the shipboard landing missions by [26]- [28], and the adaptive nonlinear controllers were presented to ensure the success of the helicopter landing on the deck in rough sea. However, the dynamic couplings between the relative position and relative attitude motions were ignored, while the under-actuated property of the aeronautical vehicles was also insufficiently considered in the previous works.…”

Linear Velocity-Free Visual Servoing Control for Unmanned Helicopter Landing on a Ship With Visibility Constraint

“…In order to avoid collision, an effective solution is to utilize a ship motion predictor. With the predicted information, the landing phase will be switched on only when there would be a future period in which the ship's pitch and roll remain small values [4]. Thus, the necessary controlled states are reduced to 4 DOF including relative position and relative yaw.…”