Hovering Control for Automatic Landing Operation of An Inspection Drone to A Mobile Platform

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Abstract

This paper investigates the hovering control problem of a drone on a 6-DOF mobile platform. An inner-outer loop strategy based on high-gain observer is presented. In the outer loop, the high-gain observer is designed to estimate the states of the drone such that its velocity and acceleration measurements are not necessary, and then a nested saturation controller is designed. In the inner loop, a hybrid controller which can be effectively used for avoiding unwinding phenomenon is applied to regulate the attitude of the drone. Finally, a simulation example is used to demonstrate the effectiveness of the proposed control method.
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Detaljer

This paper investigates the hovering control problem of a drone on a 6-DOF mobile platform. An inner-outer loop strategy based on high-gain observer is presented. In the outer loop, the high-gain observer is designed to estimate the states of the drone such that its velocity and acceleration measurements are not necessary, and then a nested saturation controller is designed. In the inner loop, a hybrid controller which can be effectively used for avoiding unwinding phenomenon is applied to regulate the attitude of the drone. Finally, a simulation example is used to demonstrate the effectiveness of the proposed control method.
OriginalsprogEngelsk
BogserieIFAC-PapersOnLine
Volume/Bind51
Tidsskriftsnummer8
Sider (fra-til)245-250
Antal sider6
ISSN1474-6670
DOI
StatusUdgivet - 2018
PublikationsartForskning
Peer reviewJa
ID: 286684850