Title :
An autonomous shipboard landing algorithm for unmanned helicopters
Author :
Heemin Shin ; Dongil You ; Shim, David Hyunchul
Abstract :
This paper proposes an algorithm for 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 model uncertainties caused by external disturbances and vehicle speed change are compensated by Time-Delay Control. The guidance law considers crash avoidance and reentrance procedure as well as the effects by crosswind. The proposed algorithm is validated by real-time simulations using MATLAB Simulink and X-Plane.
Keywords :
autonomous aerial vehicles; collision avoidance; delays; helicopters; uncertain systems; MATLAB Simulink; X-Plane; autonomous shipboard landing algorithm; crash avoidance; crosswind; external disturbances; guidance law; model uncertainties; real-time simulations; reentrance procedure; time-delay control; unmanned helicopters; vehicle speed change; Helicopters; Marine vehicles; Mathematical model; Rotors; Uncertainty; Vectors; Vehicles; Autonomous Shipboard Landing; Crosswind Landing; Model Uncertainty; Time-Delay Control; Unmanned Helicopter;
Conference_Titel :
Unmanned Aircraft Systems (ICUAS), 2013 International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
978-1-4799-0815-8
DOI :
10.1109/ICUAS.2013.6564759
