Autonomous Shipboard Landing Algorithm for Unmanned Helicopters in Crosswind

被引：22
|
作者：
Shin, Heemin [1 ]
You, Dongil [1 ]
Shim, David Hyunchul [1 ]
机构：
[1] Korea Adv Inst Sci & Technol, Dept Aerosp Engn, Taejon 305701, South Korea
来源：
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 2014年 / 74卷 / 1-2期
基金：
新加坡国家研究基金会;
关键词：
Unmanned helicopter; Autonomous shipboard landing; Crosswind landing; Model uncertainty; Time-delay control; TIME-DELAY CONTROL;
D O I：
10.1007/s10846-013-9927-2
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper introduces an algorithm for the autonomous shipboard landing of unmanned helicopters in crosswind, using time-delay control. The proposed algorithm is composed of two parts: the controller, augmented with time-delay control, and the guidance law. The time-delay control is actively adopted to compensate for the model uncertainties of a rotorcraft. The guidance law considers crash avoidance and reentrance procedures, as well as the effects caused by crosswind. The designed algorithm is validated using real-time simulations in MATLAB/Simulink and X-Plane.
引用
收藏
页码：347 / 361
页数：15
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