Theoretical and experimental study of adaptive control for fixed-wing UAV arrested recovery on the USV

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Theoretical and experimental study of adaptive control for fixed-wing UAV arrested recovery on the USV
	Chu LL(禇玲玲)1,2,4; Gu F(谷丰)1,2; Chen, Changlong 3; Nie HY(聂虹宇)1,2,4; Zhang MX(张洺溪)1,2; Du XT(杜心田)1,2; He YQ(何玉庆)1,2
	2021
会议日期	July 15-19, 2021
会议地点	Xining, China
页码	1329-1334
英文摘要	Shipborne recovery of small mixed-wing UAV is an important technology for UAV application in the sea, which have attracted much attention of researchers in recent years. Arrested recovery with arresting cable is one kind of effective recovery method of fixed-wing UAV. However, due to the severe limited recovery area, precision control of UAV is a key problem of UAV recovery and less tested work in the real surface environment are conducted. In our work, an adaptive control method combined with LPV model and $\alpha -\beta$ filter for fixed-wing UAV arrested recovery on the USV is first proposed to achieve robust and high precision of the UAV during the recovery. Moreover, based on the independent shipborne recovery system and fixed-wing UAV, many flight experiments under different conditions in real environment are designed and conducted to verify the feasibility and performance of the system and methods. The results indicate that the UAV with the proposed method can satisfy the requirements of arrested recovery on the USV.
源文献作者	IEEE Robotics and Automation Society (RA) ; Shanghai Jiao Tong University ; Shenzhen Institute of Advanced Technology (SIAT)
产权排序	1
会议录	2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-6654-3678-6
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/29682]
专题	沈阳自动化研究所_机器人学研究室
通讯作者	Gu F(谷丰)
作者单位	1.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China 2.Shenyang Institute of Automation, Chinese Academy of Sciences, State Key Laboratory of Robotics, Shenyang 110016, China 3.School of Transportation Science and Engineering, Beihang University, Beijing 110191, China 4.University of Chinese Academy of Sciences, Beijing 100049, China
推荐引用方式 GB/T 7714	Chu LL,Gu F,Chen, Changlong,et al. Theoretical and experimental study of adaptive control for fixed-wing UAV arrested recovery on the USV[C]. 见:. Xining, China. July 15-19, 2021.