This paper presents an overall control system for the automatic landing of a quadrotor UAV on a moving platform. Herein, the vehicle control system comprises a nonlinear inner loop attitude control and an outer loop velocity control system based on static inversion. The vehicle control system is finally realized in an experimental prototype and first test flights proof the performance of this novel nonlinear approach. The landing controller consists of a linear altitude controller and a nonlinear 2D-tracking controller. Simulation results finally underline the performance of the landing control system.
Nonlinear landing control for quadrotor UAVs
Nichtlineares Steuern des Landevorgangs von Quadrotor UAV (unbemannte Flugobjekte)
2009
8 Seiten, 6 Bilder, 8 Quellen
Conference paper
English
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