Using formal methods to verify safe deep stall landing of a MAV

Pointner, Wolfgang; Kotsis, Gabriele; Langthaler, Peter; Naderhirn, Michael

doi:10.1109/dasc.2011.6096251

Cited by 4 publications

(4 citation statements)

References 3 publications

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“…In [22] linear-quadratic regulator trees are presented as a way of controlling a UAV in deep-stall landing, with implementation, flight tests and promising results. In [23] the navigation part of the deep-stall landing and the safety aspect are considered. In [24] a nonlinear model predictive controller for real-time autolanding in deep-stall of a UAV is described, built on the work presented in [25].…”

Section: Introductionmentioning

confidence: 99%

“…At low α, the drag, lift and pitch moment of the UAV can be described as linear functions of α. In stall conditions, however, the drag, lift and pitch moments are higly nonlinear functions of the angle of attack, and linear models are not sufficient [44], [23]. Therefore, for transition into stall, linearization around trim values are not useful and the full nonlinear prediction model is used.…”

Section: Introductionmentioning

confidence: 99%

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Precision Deep-Stall Landing of Fixed-Wing UAVs Using Nonlinear Model Predictive Control

Mathisen

Gryte

Gros

et al. 2020

J Intell Robot Syst

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To be able to recover a fixed-wing unmanned aerial vehicle (UAV) on a small space like a boat deck or a glade in the forest, a steep and precise descent is needed. One way to reduce the speed of the UAV during landing is by performing a deep-stall landing manoeuvre, where the lift of the UAV is decreased until it is unable to keep the UAV level, at the same time as the drag is increased to minimize the speed of the UAV. However, this manoeuvre is highly non-linear and nontrivial to perform with high precision. To solve this, an on-line non-linear model predictive controller (NMPC) is implemented to guide the UAV in the landing phase, receiving inputs from the autopilot and guiding the UAV using pitch and throttle references. The UAV is guided along a custom path to a predefined deepstall landing start point and performs a guided deep-stall. The simulation results show that the NMPC guides the UAV in a deep-stall landing with good precision and low speed, and that the results depend on a correct prediction model for the controller.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Precision Deep-Stall Landing of Fixed-Wing UAVs Using Nonlinear Model Predictive Control

Mathisen

Gryte

Gros

et al. 2020

J Intell Robot Syst

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“…The UAV can have high flight path angle with low speed by maintaining this trim condition. A similar research on the deep stall landing using Micro Aerial Vehicles (MAV) suggests a criterion on landing or recovery decision [11]. However, these previous researches are only applicable to small size vehicles and cannot make zero velocity at a desired position.…”

Section: Introductionmentioning

confidence: 99%

“…Aerodynamic coefficient of NACA4415 at high angle of attack is approximated by sigmoid function σ(α) as a mixing function from experimental data. Similar to research [11], equation in (1) is used as sigmoid function where α 0 stands for the cut-off angle of attack and M represents the transition rate. Graph of σ(α) at α 0 =20 o and M=20 is shown in Fig.…”

Section: Aerodynamic Modelingmentioning

confidence: 99%

Perch Landing Assisted by Thruster (PLAT): Concept and Trajectory Optimization

Tahk¹,

Han²,

Lee³

et al. 2016

International Journal of Aeronautical and Space Sciences

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A concept of the perch landing assisted by thruster (PLAT) for a fixed wind aircraft is proposed in this paper. The proposed concept is applicable to relatively large unmanned aerial vehicles (UAV), hence can overcome the limitation of existing perch landing technologies. A planar rigid body motion of an aircraft with aerodynamic and thruster forces and moments is modeled. An optimal control problem to minimize the fuel consumption by determining the histories of thruster and elevator deflection angle with specified terminal landing condition is formulated and solved. A parametric study for various initial conditions and thruster parameters is conducted to demonstrate the practicability of the proposed concept.

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