Disturbance observer-based autonomous landing control of unmanned helicopters on moving shipboard
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ORIGINAL PAPER
Disturbance observer-based autonomous landing control of unmanned helicopters on moving shipboard Xin Yu · Jun Yang
· Shihua Li
Received: 25 March 2020 / Accepted: 24 August 2020 © Springer Nature B.V. 2020
Abstract In this paper, the autonomous landing control issue on moving shipboard is investigated for unmanned helicopters subject to disturbances. The issue is studied by stabilizing the error system of the helicopter and the shipboard. The landing process is divided into two phases, i.e., homing phase, where a hierarchical double-loop control scheme is developed such that the helicopter is forced to hover synchronously at a certain altitude over the shipboard, and landing phase, where a composite landing control scheme is proposed such that the helicopter lands vertically on the shipboard in synchronization with its attitudes. The velocity and acceleration information of the shipboard as well as lump disturbances is estimated through joint state and disturbance observers. The estimates are then incorporated into the baseline feedback controller, formulating composite active antidisturbance landing control schemes. A continuous terminal sliding mode control method is proposed for the feedback controller design, which not only effectively X. Yu · J. Yang (B) · S. Li School of Automation, Southeast University, Nanjing 210096, People’s Republic of China e-mail: [email protected] X. Yu · J. Yang · S. Li Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, Nanjing, People’s Republic of China X. Yu · J. Yang Shenzhen Research Institute, Southeast University, Shenzhen 518063, People’s Republic of China
mitigates the chattering of the control action, but also simplifies the design process of the controller. Numerical simulations demonstrate the effectiveness and superiorities of the proposed control schemes. Keywords Unmanned helicopters · Landing control · Moving shipboard · Joint state and disturbance observer · Continuous terminal sliding mode control
1 Introduction Unmanned aerial vehicles (UAVs) have received a great deal of research, development, and application for several decades [1]. Owing to the unique and significant abilities of vertical takeoff and landing, sideslip, backward flight, and hovering, unmanned helicopters have been widely utilized to perform a variety of missions in various environments. On the one hand, in all flight missions, autonomous landing is an essential stage and is prone to accidents, especially landing on moving targets. On the other hand, in all operating environments, maritime operating is very precarious and challenging due to the rough sea conditions such as low visibility, strong wind and turbulence, unpredictable motions of the shipboard, and narrow deck space [1]. For these two reasons, it is of great academic significance and research value to exploit autonomous landing schemes for helicopters on moving shipboard. In recent decades, many researches have been carried out on autonomous landing of UAVs on mov-
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