Robust linear output feedback controller for autonomous landing of a quadrotor on a ship deck

Ship deck landing control of a quadrotor requires certain robustness with respect to ship heave motion. Typical systems only provide relative height, therefore do not have relative heave rate information. In this paper, a linear output feedback control consisting of a full state feedback controller...

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Bibliographic Details
Main Authors: Tan, Chun Kiat, Wang, Jian Liang, Paw, Yew Chai, Liao, Fang
Other Authors: School of Electrical and Electronic Engineering
Format: Article
Language:English
Published: 2019
Subjects:
Online Access:https://hdl.handle.net/10356/104478
http://hdl.handle.net/10220/49995
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Institution: Nanyang Technological University
Language: English
Description
Summary:Ship deck landing control of a quadrotor requires certain robustness with respect to ship heave motion. Typical systems only provide relative height, therefore do not have relative heave rate information. In this paper, a linear output feedback control consisting of a full state feedback controller and a Luenberger observer is formulated. Invariant ellipsoid method is used to formulate an estimation of a bound on the response of a linear output feedback-controlled system subjected to external disturbances and measurement noise. The gains that result in a minimum bound are optimized using a gradient descent iterative approach proposed in this paper where the invariant ellipsoid condition is linearized into a tractable LMI condition. This approach is applied to a simulation of a quadrotor landing on a ship deck and results are compared with other gains. The gains selected using the proposed approach exhibits improved robustness to external disturbances and measurement noise.