Robust Adaptive Controls for Shipboard Landing of Multi-Rotor Unmanned Aerial Vehicles
Abstract
The primary objective of this research is to design a robust adaptive control system for multirotor UAVs that allows precise landing on the deck of moving ships despite 1) adverse sea states; 2) strong winds; 3) the ‘ground effect’ due to the proximity to the ship; 4) model uncertainties and the presence of poorly modelled or not modeled payloads; 5) highly unsteady motion of the landing deck with respect to the UAV. This control system will also enforce constraints, such as landing loads and maximum approach speed. As part of this research, the PI and the co-Investigatot will produce 1) theoretical results on output-feedback robust adaptive control of uncertain nonlinear dynamical systems; 2) analytic models of the thrust force generated by UAV’s propellers in strong wind, in proximity of hard surfaces, and in the wake of ships; 3) fast control algorithms for safe shipboard landing. These algorithms will be implemented on micro-computers, such as the Odroid XU4, and will be validated through an extensive test campaign.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Jun 13, 2019
- Source ID
- N000141912422
Entities
People
- Andrea L Afflitto
Organizations
- Office of Naval Research
- United States Navy
- University of Oklahoma