Energy-Based Cooperative Control for Landing Fixed-Wing UAVs on Mobile Platforms Under Communication Delays

Muskardin, Tin; Coelho, Andre; Noce, Eduardo Rodrigues Della; Ollero, A.; Kondak, Konstantin

doi:10.1109/lra.2020.3005374

Cited by 16 publications

(7 citation statements)

References 15 publications

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“…Another possible development step consists in the use of a different cooperative control strategy, as proposed in [13], where both vehicles act in both directions, while applying the technique presented in [31] used to make it robust to communication delays.…”

Section: Discussionmentioning

confidence: 99%

High-Fidelity Modeling and Control Design for a Cooperative High Altitude Long Endurance Aircraft Landing System

Noce

Kalra

Coelho

et al. 2021

2021 International Conference on Unmanned Aircraft Systems (ICUAS)

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High Altitude Long Endurance (HALE) aircraft can take flight to altitudes as high as 20 km and can stay there for long periods of time. In this article, the viability of landing such an aircraft on a mobile platform using a cooperative control strategy for motion synchronization is examined. Time domain system identification is applied to create a model of the Elektra 2 Solar HALE aircraft, which was found to be high fidelity by the Federal Aviation Administration (FAA) standards. An analysis is made to evaluate the feasibility of autonomously landing the HALE Unmanned Aerial Vehicle (UAV) on top of a ground vehicle with a roof-mounted landing platform. Controller synthesis is done for the individual vehicles as well as the cooperative landing control, leading to an examination of the overall system stability and performance, using both deterministic and stochastic methods.

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Section: Discussionmentioning

confidence: 99%

High-Fidelity Modeling and Control Design for a Cooperative High Altitude Long Endurance Aircraft Landing System

Noce

Kalra

Coelho

et al. 2021

2021 International Conference on Unmanned Aircraft Systems (ICUAS)

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“…On the other hand, in order to tackle the problem of instability caused by time delay, package loss, and jitter in bilateral teleoperation, the Time Domain Passivity Approach (TDPA) [42] is a reliable choice due to its passivity, robustness, and position synchronization characteristics. TDPA has been widely used in the fields of space teleoperation [4], force control [8], series elastic actuators [27], time-delayed cooperative control [32], and others. Its model-free characteristics allows it to perform better in comparison with other passivity-based approaches [6] while possessing a significantly simpler structure than fuzzy-logic and neural-network based approaches (e. g. [48] and [47]).…”

Section: Introductionmentioning

confidence: 99%

Whole-Body Teleoperation and Shared Control of Redundant Robots with Applications to Aerial Manipulation

Coelho

Sarkisov

et al. 2021

J Intell Robot Syst

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This paper introduces a passivity-based control framework for multi-task time-delayed bilateral teleoperation and shared control of kinematically-redundant robots. The proposed method can be seen as extension of state-of-the art hierarchical whole-body control as it allows for some of the tasks to be commanded by a remotely-located human operator through a haptic device while the others are autonomously performed. The operator is able to switch among tasks at any time without compromising the stability of the system. To enforce the passivity of the communication channel as well as to dissipate the energy generated by the null-space projectors used to enforce the hierarchy among the tasks, the Time-Domain Passivity Approach (TDPA) is applied. The efficacy of the approach is demonstrated through its application to the DLR Suspended Aerial Manipulator (SAM) in a real telemanipulation scenario with variable time delay, jitter, and package loss.

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“…Motivated by the aforementioned works and taking also into account that passivity-based control (PBC) and interconnection and damping assignment-passivity-based control (IDA-PBC) techniques have been successfully applied to unmanned aerial vehicles [14][15][16][17], in this paper, we offer an alternative approach to stabilize an unmanned powered parachute by using the standard PBC and IDA-PBC strategies. In the IDA-PBC algorithm, the control goals should be achieved despite wind disturbance and changes in masses acting on the system because of its inherent robustness against parametric uncertainty and unmodeled dynamics [18].…”

Section: Introductionmentioning

confidence: 99%

Passivity‐based control laws for an unmanned powered parachute aircraft

Beltrán

Miranda‐Araujo

Guerrero-Sánchez

et al. 2021

Asian Journal of Control

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In this paper, the development of passivity-based control (PBC) algorithms to stabilize an unmanned powered parachute aerial vehicle is presented. The equations of motion of the system are presented in both Lagrangian and Hamiltonian formalisms. The proposed controllers are based on the Hamiltonian function of the system and guarantee the parachute aircraft system stabilization. In the first control law a classic PBC strategy is proposed, and in the second, an interconnection and damping assignment-passivity-based control (IDA-PBC) is chosen because of its inherent robustness against parametric uncertainty and unmodeled dynamics. The control objective is to reach a desired final position despite the initial launch conditions. Numerical simulations with variation in the parachute mass weight and in the presence of wind are carried out to validate our proposed schemes.

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Energy-Based Cooperative Control for Landing Fixed-Wing UAVs on Mobile Platforms Under Communication Delays

Abstract: Energy-based cooperative control for landing fixed-wing uavs on mobile platforms under communication delays.

Cited by 16 publications

References 15 publications

High-Fidelity Modeling and Control Design for a Cooperative High Altitude Long Endurance Aircraft Landing System

High-Fidelity Modeling and Control Design for a Cooperative High Altitude Long Endurance Aircraft Landing System

Whole-Body Teleoperation and Shared Control of Redundant Robots with Applications to Aerial Manipulation

Passivity‐based control laws for an unmanned powered parachute aircraft

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