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

Publikation: Bidrag til tidsskriftKonferenceartikel i tidsskriftForskningpeer review

1 Citation (Scopus)

Resumé

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
Vol/bind51
Udgave nummer8
Sider (fra-til)245-250
Antal sider6
ISSN1474-6670
DOI
StatusUdgivet - 2018
Begivenhed3rd IFAC Workshop on Automatic Control in Offshore Oil and Gas Production OOGP 2018 - Esbjerg, Danmark
Varighed: 30 maj 20181 jun. 2018
Konferencens nummer: 3

Konference

Konference3rd IFAC Workshop on Automatic Control in Offshore Oil and Gas Production OOGP 2018
Nummer3
LandDanmark
ByEsbjerg
Periode30/05/201801/06/2018

Fingerprint

Landing
Inspection
Acceleration measurement
Controllers
Velocity measurement
Drones

Citer dette

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title = "Hovering Control for Automatic Landing Operation of An Inspection Drone to A Mobile Platform",
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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author = "Shaobao Li and L{\o}hndorf, {Petar Durdevic} and Zhenyu Yang",
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Hovering Control for Automatic Landing Operation of An Inspection Drone to A Mobile Platform. / Li, Shaobao; Løhndorf, Petar Durdevic; Yang, Zhenyu.

I: IFAC-PapersOnLine, Bind 51, Nr. 8, 2018, s. 245-250.

Publikation: Bidrag til tidsskriftKonferenceartikel i tidsskriftForskningpeer review

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