Control Architecture for Catching a Fixed-Wing Drone using a Ground Vehicle - Systèmes Robotiques en Interaction
Communication Dans Un Congrès Année : 2023

Control Architecture for Catching a Fixed-Wing Drone using a Ground Vehicle

Résumé

This paper presents a control strategy designed in 3D for landing a fixed-wing drone on a moving ground vehicle. The control strategy focuses on leading the fixed-wing vehicle towards a desired trajectory while the control algorithms for the ground vehicle regulate its speed and tracks the relative position of the aerial vehicle in the x − y plane. The desired trajectory for the aerial vehicle is based on a hyperbolic tangent function to perform a soft descending reaching the ground vehicle’s altitude. The strategy allows the rendezvous of both vehicles obtaining a safe landing for the airplane. The methodology to determine the control laws is based on the Lyapunov analysis, guaranteeing the stability on each control stage. The strategy is evaluated in numerical simulations for validating the systems performance in closed loop.

Domaines

Automatique
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Dates et versions

hal-04342801 , version 1 (13-12-2023)

Identifiants

Citer

A. Alatorre, Pedro Castillo Garcia, Rogelio Lozano. Control Architecture for Catching a Fixed-Wing Drone using a Ground Vehicle. 26th IEEE International Conference on Intelligent Transportation Systems (ITSC 2023), Sep 2023, Bilbao, Spain, Spain. pp.1249-1254, ⟨10.1109/ITSC57777.2023.10422630⟩. ⟨hal-04342801⟩
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