Fast, safe and precise landing of a quadrotor on an oscillating platform

摘要: In this paper, we propose a novel control structure that can achieve fast, safe and precise landing of VTOL (vertical takeoff landing) UAV onto vertically oscillating pad. The consists three modules to these goals: motion estimation module, trajectory generation module tracking module. the an ARC (Adaptive Robust Controller) is designed robustly adapt nonlinear ground effect enable quadrotor accurately track given reference trajectory. time-optimal for generated such it converges from initial height precisely platform with zero relative velocity (for smooth landing). time duration as short possible, physical safety constraints (position, velocity, acceleration bounds etc.) are satisfied during entire process. above two use information in absolute coordinate system (inertial frame). estimate positions online only measurement distance between platform, well inertia UAV. An UKF (unscented Kalman Filter) constructed estimated parameters fed other real time. Comparative simulation experimental results presented validate performances proposed structure.