首页|Constrained docking control for shipborne UAV SideArm recovery

Constrained docking control for shipborne UAV SideArm recovery

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In this work,we sought to investigate constrained docking control during shipborne SideArm recovery of an Unmanned Aerial Vehicle(UAV)under preassigned safe docking con-straints,rough ocean environments,and different initial positions.The aim was to solve the UAV tracking-lag problem that manifests when attempting to dock with a rapidly moving SideArm and to improve the accuracy and rapidity of docking.First,together with the formulations of the shipborne SideArm system and environmental airflows,the affine nonlinear dynamics of the hook was established to reduce tracking lag.Then,echo state network approximators with good approx-imation capacity and low computational consumption were designed to accurately approximate the UAV's unknown nonlinear dynamics.With feedforward compensation provided by these approx-imators,a nonlinear-mapping-based constrained docking control law was developed for shipborne SideArm recovery of UAVs.This approach to controlling the docking trajectory and the forward docking speed of the UAV can achieve rapid and exact docking with a moving SideArm,without violating the preassigned safe docking-constraint envelopes.Simulations under different docking scenarios were used to validate the effectiveness and advantages of the proposed docking-control algorithm.

SideArm recoveryUnmanned aerial vehicleDocking controlNonlinear mappingEcho state network

Zikang SU、Zhuolin XING、Xuebing LI、Chuntao LI、Xinwei WANG、Honglun WANG

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College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China

School of Engineering and Materials Science,Queen Mary University of London,London E1 4NS,UK

School of Automation Science and Electrical Engineering,Beihang University,Beijing 100191,China

National Key Laboratory of Science and Technology on UAV in NWPU,ChinaNational Natural Science Foundations of ChinaAeronautical Science FoundationFundamental Research Funds for the Central Universities,ChinaPostgraduate Research & Practice Innovation Program of NUAA,China

2022-JCJQ-LB-07161903190N2022Z023052003NS2023016xcxjh20230311

2024

10.1016/j.cja.2023.12.016

中国航空学报(英文版)
中国航空学会

中国航空学报(英文版)

CSTPCDEI
影响因子：0.847
ISSN：1000-9361
年,卷(期)：2024.37(5)