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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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
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Online Access:https://hdl.handle.net/10356/104478
http://hdl.handle.net/10220/49995
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Institution: Nanyang Technological University
Language: English
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spelling sg-ntu-dr.10356-1044782020-03-07T14:00:38Z Robust linear output feedback controller for autonomous landing of a quadrotor on a ship deck Tan, Chun Kiat Wang, Jian Liang Paw, Yew Chai Liao, Fang School of Electrical and Electronic Engineering Quadrotor Ship Deck Landing Engineering::Electrical and electronic engineering 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. Accepted version 2019-09-25T02:57:37Z 2019-12-06T21:33:41Z 2019-09-25T02:57:37Z 2019-12-06T21:33:41Z 2019 Journal Article Tan, C. K., Wang, J. L., Paw, Y. C., & Liao, F. (2019). Robust linear output feedback controller for autonomous landing of a quadrotor on a ship deck. International Journal of Control, 92(12), 2791-2805. doi:10.1080/00207179.2018.1459859 0020-7179 https://hdl.handle.net/10356/104478 http://hdl.handle.net/10220/49995 10.1080/00207179.2018.1459859 en International Journal of Control This is an Accepted Manuscript of an article published by Taylor & Francis in International Journal of Control on 19 April 2018, available online: http://www.tandfonline.com/10.1080/00207179.2018.1459859 29 p. application/pdf
institution Nanyang Technological University
building NTU Library
country Singapore
collection DR-NTU
language English
topic Quadrotor
Ship Deck Landing
Engineering::Electrical and electronic engineering
spellingShingle Quadrotor
Ship Deck Landing
Engineering::Electrical and electronic engineering
Tan, Chun Kiat
Wang, Jian Liang
Paw, Yew Chai
Liao, Fang
Robust linear output feedback controller for autonomous landing of a quadrotor on a ship deck
description 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.
author2 School of Electrical and Electronic Engineering
author_facet School of Electrical and Electronic Engineering
Tan, Chun Kiat
Wang, Jian Liang
Paw, Yew Chai
Liao, Fang
format Article
author Tan, Chun Kiat
Wang, Jian Liang
Paw, Yew Chai
Liao, Fang
author_sort Tan, Chun Kiat
title Robust linear output feedback controller for autonomous landing of a quadrotor on a ship deck
title_short Robust linear output feedback controller for autonomous landing of a quadrotor on a ship deck
title_full Robust linear output feedback controller for autonomous landing of a quadrotor on a ship deck
title_fullStr Robust linear output feedback controller for autonomous landing of a quadrotor on a ship deck
title_full_unstemmed Robust linear output feedback controller for autonomous landing of a quadrotor on a ship deck
title_sort robust linear output feedback controller for autonomous landing of a quadrotor on a ship deck
publishDate 2019
url https://hdl.handle.net/10356/104478
http://hdl.handle.net/10220/49995
_version_ 1681048276148682752