Adaptive Sliding Mode Relative Motion Control for Autonomous Carrier Landing of Fixed-Wing Unmanned Aerial Vehicles | Zendy

Zewei Zheng | Zendy; Zhenghao Jin | Zendy; Liang Sun | Zendy; Ming Zhu | Zendy

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Adaptive Sliding Mode Relative Motion Control for Autonomous Carrier Landing of Fixed-Wing Unmanned Aerial Vehicles

Author(s) -

Zewei Zheng,

Zhenghao Jin,

Liang Sun,

Ming Zhu

Publication year - 2017

Publication title -

ieee access

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.587

H-Index - 127

ISSN - 2169-3536

DOI - 10.1109/access.2017.2671440

Subject(s) - aerospace , bioengineering , communication, networking and broadcast technologies , components, circuits, devices and systems , computing and processing , engineered materials, dielectrics and plasmas , engineering profession , fields, waves and electromagnetics , general topics for engineers , geoscience , nuclear engineering , photonics and electrooptics , power, energy and industry applications , robotics and control systems , signal processing and analysis , transportation

In this paper, relative motion model and control strategy for autonomous fixed-wing unmanned aerial vehicle (UAV) carrier landing are addressed. First, a coupled six-degrees-of-freedom (6-DOF) non-linear relative motion model is established from 6-DOF UAV and carrier models. Second, because of the under-actuated characteristic of two vehicles, the 6-DOF relative motion model is simplified to a four-degree-of-freedom (4-DOF) model to facilitate the control design. Third, an adaptive sliding mode control law is proposed to track desired landing trajectory and maintain constant relative pitch and roll angles. Finally, simulation results demonstrate the effectiveness of the proposed control method.

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