Paper Info
Title
Finite-time Autonomous Shipboard Landing Control of a Helicopter with Time-varying Output Constraints
Abstract
This paper addresses a finite-time autonomous shipboard landing problem of a model helicopter subject to output constraints, parametric uncertainties and external disturbances. By establishing the relative motion model between the helicopter and the ship, the shipboard landing problem is converted from a general trajectory tracking problem to a stabilization problem. Due to the under-actuated property of the helicopter, the whole process of the autonomous shipboard is divided into two steps. The helicopter is first commanded by a relative position controller (RPC) to reach above the ship. As it reaches, a relative attitude-altitude controller (RAC) is initiated to guide the helicopter to descend steadily on the ship. RPC and RAC are both devised in terms of the tan-type Barrier Lyapunov Function theory, with an adaptive estimation method inserted to compensate for the impact of uncertainties and disturbances. It is demonstrated from the stability analysis that the proposed control strategy can ensure that system tracking errors converge to small sets around zero in the finite time and never violating constraint requirements. Numerical simulations are implemented to further validate the remarkable control performance.
Year
DOI
Venue
2019
10.1109/ICCA.2019.8899912
2019 IEEE 15th International Conference on Control and Automation (ICCA)
Keywords
Field
DocType
control strategy,remarkable control performance,time autonomous shipboard landing control,time-varying output constraints,finite-time autonomous shipboard landing problem,model helicopter,relative motion model,general trajectory tracking problem,stabilization problem,relative position controller,relative attitude-altitude controller
Control theory,Control theory,Relative motion,Barrier lyapunov function,Control engineering,Parametric statistics,Engineering,Trajectory,Finite time
Conference
ISSN
ISBN
Citations 
1948-3449
978-1-7281-1165-0
0
PageRank 
References 
Authors
0.34
12
4
Name
Order
Citations
PageRank
Yanting Huang100.34
Ming Zhu282.95
Zewei Zheng3506.85
Bing Zhu49914.45