Non-linear position control for hover and automatic landing of unmanned aerial vehicles

X. Yang; M. Garratt; H. Pota

Non-linear position control for hover and automatic landing of unmanned aerial vehicles

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Non-linear position control for hover and automatic landing of unmanned aerial vehicles

Author(s): X. Yang ; M. Garratt ; H. Pota
DOI: 10.1049/iet-cta.2011.0046

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Author(s): X. Yang ¹ ; M. Garratt ² ; H. Pota ²
- Affiliations: 1: Australian Research Center for Aerospace Automation, Brisbane, Australia
  2: School of Engineering and Information Technology, University College, University of New South Wales, Australia
Source: Volume 6, Issue 7, 3 May 2012, p. 911 – 920
DOI: 10.1049/iet-cta.2011.0046 , Print ISSN 1751-8644, Online ISSN 1751-8652

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This study presents a disturbance attenuation controller for horizontal position stabilisation for hover and automatic landings of a rotary-wing unmanned aerial vehicle (RUAV) operating close to the landing deck in rough seas. Based on a helicopter model representing aerodynamics during the landing phase, a non-linear state feedback ℋ_∞ controller is designed to achieve rapid horizontal position tracking in a gusty environment. Practical constraints including flapping dynamics, servo dynamics and time lag effect are considered. A high-fidelity closed-loop simulation using parameters of the Vario XLC gas-turbine helicopter verifies performance of the proposed horizontal position controller. The proposed controller not only increases the disturbance attenuation capability of the RUAV, but also enables rapid position response when gusts occur. Comparative studies show that the ℋ_∞ controller exhibits performance improvement and can be applied to ship/RUAV landing systems.

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Non-linear position control for hover and automatic landing of unmanned aerial vehicles

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