Coordinated control concept for recovery of a fixed-wing UAV on a ship using a net carried by multirotor UAVs

Klausen, Kristian; Moe, Jostein Borgen; Hoorn, Jonathan Cornel van den; Gomola, Alojz; Fossen, Thor I.; Johansen, Tor Arne

doi:10.1109/icuas.2016.7502640

Cited by 13 publications

(9 citation statements)

References 14 publications

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“…In this section, the concept of UAV recovery using a net suspended below multirotors is discussed in further details. As described in (Klausen et al, 2016) in the context of ship-based UAV operations, key benefits of the proposed approach are…”

Section: Autonomous Net Recoverymentioning

confidence: 99%

“…The structure of the formation controller can be seen in Figure 6. More details about the controller, including Lyapunov-based stability proofs, can be found in (Meissen et al, 2017) and (Klausen et al, 2016).…”

Section: Formation Controlmentioning

confidence: 99%

“…As the acceleration phase of the along-track profile is rather quick for the agile multirotors, this proved more than sufficient. More elaborate profile could obviously be used, for instance the C 4 polynomial profile proposed in (Klausen et al, 2016).…”

Section: Coordination -Along-trackmentioning

confidence: 99%

“…The contributions of this paper is the experimental validation and functional description of the system first reported in (Klausen et al, 2016). In addition to some changes in the controllers, we outline the implementation steps.…”

Section: Introductionmentioning

confidence: 99%

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Autonomous recovery of a fixed‐wing UAV using a net suspended by two multirotor UAVs

Klausen

Fossen

Johansen

2017

Journal of Field Robotics

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This article presents a novel recovery method for fixed-wing Unmanned Aerial Vehicles (UAVs), aimed at enabling operations from marine vessels. Instead of using the conventional method of using a fixed net on the ship deck, we propose to suspend a net under two cooperative multirotor UAVs. While keeping their relative formation, the multirotor UAVs are able to intercept the incoming fixed-wing UAV along a virtual runway over the sea, and transport it back to the ship. In addition to discussing the concept and design a control system, this paper also presents experimental validation of the proposed concept for a smallscale UAV platform.

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Section: Autonomous Net Recoverymentioning

confidence: 99%

Section: Formation Controlmentioning

confidence: 99%

Section: Coordination -Along-trackmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Autonomous recovery of a fixed‐wing UAV using a net suspended by two multirotor UAVs

Klausen

Fossen

Johansen

2017

Journal of Field Robotics

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“…Fan proposed a method to make UAV only use the airborne front-looking camera to find and align the runway [18]. Klausen used two multirotor-drone suspension nets to recover small fixed-wing UAVs [19,20]. It coordinated the net-based recovery system and the fixed-wing UAV by constructing a virtual runway, and finally caused the fixed-wing UAV to crash into the net and land the net-based recovery system on the USV.…”

Section: Introductionmentioning

confidence: 99%

Marine UAV–USV Marsupial Platform: System and Recovery Technic Verification

Zhang

et al. 2020

Applied Sciences

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Heterogeneous unmanned systems consisting of unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs) have great application potential in marine environments. At present, the fully autonomous recovery of UAVs is a key problem that restricts any significant application of a heterogeneous unmanned system. This paper presents a novel fully autonomous recovery system, covering the entire process of recovery of small fixed-wing UAVs on mobile platforms at sea. We describe methods or solutions for the key problems encountered by the current system, including active modeling of the UAV–USV heterogeneous platform motion model, accurate estimation of the highly dynamic relative motion of the heterogeneous platform, dynamic analysis of the arresting cable system, and compliance control of the manipulator recovery system. Based on these methods, a physical simulation platform for the fully autonomous recovery system, including an actively adjustable arresting cable, manipulator compliance recovery system, and other subsystems, is developed and verified through experiments. The experiments show that the system proposed in this study can achieve full autonomous recovery of a small ship-based fixed-wing UAV with a high success rate in a short period. This system is the foundation for practical applications of UAV–USV heterogeneous unmanned systems in the marine environment.

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Adaptive backstepping control for autonomous shipboard landing of a quadrotor with input saturation

Huang

Zhu

Sun

et al. 2020

Asian Journal of Control

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This paper presents a novel autonomous shipboard landing control algorithm of a quadrotor subject to external disturbances and input saturation. A coupled six-degrees-of-freedom (6-DOF) nonlinear relative motion model is derived to facilitate the controller design. To overcome the under-actuated property of the quadrotor and avoid collision, the shipboard landing process is cooperatively completed by a relative position controller (RPC) and a relative attitude-altitude controller (RAC). The RPC is proposed for use when the quadrotor is far away from the ship, aiming to drive the quadrotor to the vicinity of the ship. The RAC is used for the situation when the quadrotor is close enough to the ship to land the quadrotor on the ship steadily. An adaptive backstepping technique is proposed for both RPC and RAC, where unknown bounds of the lump disturbances are estimated online by the adaptive laws. To satisfy the input constraint requirement, a smooth model is employed to describe the control input saturation. Stability analysis proves that all states of the closed-loop systems are uniformly ultimately bounded. A numerical example verifies the performance of the control approach.

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Coordinated control concept for recovery of a fixed-wing UAV on a ship using a net carried by multirotor UAVs

Cited by 13 publications

References 14 publications

Autonomous recovery of a fixed‐wing UAV using a net suspended by two multirotor UAVs

Autonomous recovery of a fixed‐wing UAV using a net suspended by two multirotor UAVs

Marine UAV–USV Marsupial Platform: System and Recovery Technic Verification

Adaptive backstepping control for autonomous shipboard landing of a quadrotor with input saturation

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