Nonlinear automatic landing control of unmanned aerial vehicles on moving platforms via a 3D laser radar

• Main Authors: Hervas, Jaime Rubio, Reyhanoglu, Mahmut, Tang, Hui
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Conference or Workshop Item
• Language: English
• Published: 2016
• Subjects: UAV; Sliding mode; Nonlinear control; State estimation; Extended Kalman filter; Laser radar; Landing
• Online Access: https://hdl.handle.net/10356/81916; http://hdl.handle.net/10220/39711
• Institution: Nanyang Technological University

This paper presents a motion tracking and control system for automatically landing Unmanned Aerial Vehicles (UAVs) on an oscillating platform using Laser Radar (LADAR) observations. The system itself is assumed to be mounted on a ship deck. A full nonlinear mathematical model is first introduced for...