Dynamics and control of cable-drogue system in aerial recovery of Micro Air Vehicles based on Gauss's Principle

Sun, Liang; Beard, Randal W.; Colton, Mark B.; McLain, Timothy W.

doi:10.1109/acc.2009.5160527

Cited by 6 publications

(5 citation statements)

References 9 publications

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“…The cable-drogue’s elastic dynamics can be established with finite rigid joints and variable-length links by referring. 2,3 It can be assumed that the frictionless cable joint i=1,...,N concentrates the mass and loads of the connecting link, where N is the total link number. The drogue is taken as one part of the end joint N.…”

Section: Problem Formulation and Preliminariesmentioning

confidence: 99%

“…The drogue is taken as one part of the end joint N. Og−XgYgZg is the inertial frame; Ob−XbYbZb is the body frame; Oa−XaYaZa is the winding frame3 3 ; the towing frame OD−XDYDZD is aligned with Og−XgYgZg; boldp0 is the towing position in the towing frame; boldpi is the position vector of joint i in the towing frame. The position vector from joint i−1 to joint i is defined asWith Newton’s second law, the dynamic equation of joint …”

Section: Problem Formulation and Preliminariesmentioning

confidence: 99%

“…1,2 During the aerial recovery with a flexible cable-drogue system, the UAV is controlled to accurately dock with the target drogue and reeled back to the carrier's cargo. [1][2][3] Some towed drogues adjust their trajectory and attitude with active aerodynamic control surfaces. Therefore, how stabilizing the towed drogue with its aerodynamic surfaces is fundamental and crucial for aerial recovery.…”

Section: Introductionmentioning

confidence: 99%

“…2 Compared to aerial deployment, the aerial recovery of these UAVs from their remote operation areas, where reliable land/ship-based landing platforms are not available, is a more difficult and important technique. 3,4 The Gremlins project by Defense Advanced Research Projects Agency (DARPA) is the best-known exploration of UAV aerial recovery. 1,2 During the aerial recovery with a flexible cable-drogue system, the UAV is controlled to accurately dock with the target drogue and reeled back to the carrier’s cargo.…”

Section: Introductionmentioning

confidence: 99%

“…In the air-ground pick-up scenario, a linear quadratic digital regulator trajectory controller is proposed to pick up an immobile target on the ground. 14 The retrieval docking of the ground targets via cable-towed body has also been researched by Trivailo et al 15 In a circular orbit aerial recovery scenario, the drogue’s trajectory is regulated by utilizing the drag coefficient as the control input, 3 which also cannot ensure disturbance rejection capability and high control accuracy. Until now, no specific work has been done to deal with the aerial recovery drogue stabilization subject to airflow disturbances, unmeasurable cable tensions, limited computation capacity, and actuating power resources.…”

Section: Introductionmentioning

confidence: 99%

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Event-triggered anti-disturbance control for aerial recovery drogue stabilization with guaranteed transient performance constraints

Su,

Chen,

Chen

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part G:

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Aiming at the drogue docking control problem in aerial recovery, this paper proposes a performance event-triggered control algorithm based on disturbance observer to stabilize the flexibly towed aerial recovery drogue subject to the unknown airflows, cable towing tensions, limited computation capacity, and actuating power resources with guaranteed transient performance. Firstly, the control-oriented 6 degrees of freedom (DOF) affine nonlinear dynamics of the flexible cable-towed drogue are formulated. Then, the event-triggered extended state observers (ETESO) are established for the trajectory and attitude subsystems by utilizing intermittently measured state, to accurately estimate the lumped disturbances caused by the unmeasurable cable tension and unknown airflow disturbance while reducing the computation cost from the sensor to the observer. Moreover, to constrain the trajectory tracking error within the guaranteed transient performance constraint with any small overshoot, an ETESO-based event-triggered control algorithm for drogue was established to ensure the specified transient performance; finally, the closed-loop stability is discussed using Lyapunov analysis. The simulation results confirmed that this method can not only constrain the drogue within the expected small error range but also effectively reduce computational costs and resource occupation, with the best control effect.

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