Composite anti‐disturbance landing control scheme for recovery of carrier‐based UAVs

Jin, Xu; Zhang, Kunpeng; Zhang, Dafa; Wang, Shiling; Zhu, Qian; Gao, Xuegang

doi:10.1002/asjc.2575

Cited by 5 publications

(8 citation statements)

References 35 publications

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“…The experimental results demonstrated the effectiveness and robustness. A composite control method was proposed for UAV landing, in which disturbances were estimated by an observer and SMC was employed in the feedback channel for landing control [ 15 ]. An adaptive robust hierarchical algorithm was proposed to address the impact of rough seas, achieving position tracking of expected trajectories and attitude tracking of command postures [ 16 ].…”

Section: Related Workmentioning

confidence: 99%

Autonomous Landing of Quadrotor Unmanned Aerial Vehicles Based on Multi-Level Marker and Linear Active Disturbance Reject Control

Lv,

Fan,

Fang

et al. 2024

Sensors

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Landing on unmanned surface vehicles (USV) autonomously is a critical task for unmanned aerial vehicles (UAV) due to complex environments. To solve this problem, an autonomous landing method is proposed based on a multi-level marker and linear active disturbance rejection control (LADRC) in this study. A specially designed landing board is placed on the USV, and ArUco codes with different scales are employed. Then, the landing marker is captured and processed by a camera mounted below the UAV body. Using the efficient perspective-n-point method, the position and attitude of the UAV are estimated and further fused by the Kalman filter, which improves the estimation accuracy and stability. On this basis, LADRC is used for UAV landing control, in which an extended state observer with adjustable bandwidth is employed to evaluate disturbance and proportional-derivative control is adopted to eliminate control error. The results of simulations and experiments demonstrate the feasibility and effectiveness of the proposed method, which provides an effective solution for the autonomous recovery of unmanned systems.

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Section: Related Workmentioning

confidence: 99%

Autonomous Landing of Quadrotor Unmanned Aerial Vehicles Based on Multi-Level Marker and Linear Active Disturbance Reject Control

Lv,

Fan,

Fang

et al. 2024

Sensors

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“…Theorem 1. Considering the yaw motion system (4), the disturbance observer is given as (5), choosing the virtual controller (10) and the controller (11) can ensure the system is uniformly ultimate bounded, while the tracking errors and disturbance estimation errors can converge to a small neighborhood of the origin by choosing the design parameters appropriately.…”

Section: Controller Designmentioning

confidence: 99%

“…Remark 3. It should be pointed out that the virtual control inputs U x , U 𝑦 , and U z , designed as the same formulation of (11), are used to guarantee the position tracking of the quadrotor UAV.…”

Section: Controller Designmentioning

confidence: 99%

“…In recent years, scholars have proposed many typical control strategies and methods for the control of quadrotor UAV, such as proportional-integral-derivative (PID) [4][5][6], backstepping [7][8][9], sliding mode control (SMC) [10][11][12], neural network control [13][14][15], and fuzzy control [16][17][18]. Madani and Benallegue [19] studied the tracking problem for a quadrotor UAV by using the backstepping control method.…”

Section: Introductionmentioning

confidence: 99%

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Trajectory tracking control for quadrotor unmanned aerial vehicle with input delay and disturbances

Duan

Min

2023

Asian Journal of Control

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This paper aims to solve the tracking control problem for quadrotor unmanned aerial vehicle (UAV) with input delay and disturbances. An appropriate auxiliary system is applied to compensate the effect of the input delay. The nonlinear disturbance observer is utilized to restrain the influence of external disturbances. Then, the controller is designed by backstepping method to ensure the trajectory tracking and steady flight of the quadrotor UAV. We also present simulation and experimental reification results to demonstrate the tracking effect and stable flight of the UAV.

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“…Early landing control technology was mainly based on classical control [9][10][11], but that could not give CBA favourable landing performance in a complex landing environment. Therefore, scholars have provided many methods for improvement based on modern control theory, such as fixed-time control [12,13], dynamic inversion control [14], fuzzy control [15,16], predictive control [17,18], sliding-mode control [19,20], backstepping control [21] and adaptive control [22,23]. However, all the aforementioned studies were based on the hypothesis that CBA remains in their normal states without any faults, whereas in reality, they are susceptible to combat damage and actuator faults due to complex flight environments and large variations in dynamic pressure in operational missions, leading to serious degradation of system performance and posing direct threats to landing safety.…”

Section: Introductionmentioning

confidence: 99%

Fault-Tolerant Control for Carrier-Based Aircraft Based on Adaptive Fuzzy Sliding-Mode Method

Xing,

2023

Applied Sciences

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Carrier-based aircraft landing involves complex system engineering characterised by strong nonlinearity, significant coupling and susceptibility to environmental disturbances, and autonomous landing of carrier-based aircraft under fault states is even more challenging and riskier. To address the control-system problems of loss of efficiency and performance due to actuator faults and performance degradation due to various unknown disturbances, presented here is fault-tolerant control for carrier-based aircraft based on adaptive fuzzy sliding-mode fault-tolerant control (AFSMFTC). First, three models are built (the carrier-based aircraft fault model, the carrier air wake model and the deck motion model), and the control framework of the autonomous landing control system is introduced. Next, a longitudinal and lateral flight channel controller comprising an adaptive fuzzy network, adaptive laws and a sliding-mode controller is designed using the AFSMFTC method. The adaptive fuzzy network implements fuzzy approximation for the sliding-mode switching terms to further offset errors induced by unknown disturbances, the adaptive laws compensate for actuator faults, and the sliding-mode controller ensures tracking of the overall flight path. Furthermore, the stability of the fault-tolerant method is demonstrated using the Lyapunov function. Finally, simulation and comparative experiments show that the proposed fault-tolerant method has outstanding control performance and strong fault-tolerant capability, thereby providing an effective and feasible solution for designing an autonomous landing system for carrier-based aircraft under fault states.

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Composite anti‐disturbance landing control scheme for recovery of carrier‐based UAVs

Cited by 5 publications

References 35 publications

Autonomous Landing of Quadrotor Unmanned Aerial Vehicles Based on Multi-Level Marker and Linear Active Disturbance Reject Control

Autonomous Landing of Quadrotor Unmanned Aerial Vehicles Based on Multi-Level Marker and Linear Active Disturbance Reject Control

Trajectory tracking control for quadrotor unmanned aerial vehicle with input delay and disturbances

Fault-Tolerant Control for Carrier-Based Aircraft Based on Adaptive Fuzzy Sliding-Mode Method

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