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Cooperative Control for Landing a Fixed-Wing Unmanned Aerial Vehicle on a Ground Vehicle

Persson, Linnea (2016) Cooperative Control for Landing a Fixed-Wing Unmanned Aerial Vehicle on a Ground Vehicle. Master's. DLR-Interner Bericht. DLR-IB-RM-OP-2016-347, 88 S.

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Abstract

High Altitude Long Endurance (HALE) platforms are a type of Unmanned Aerial Vehicle (UAV). With their relatively easy deployment and independence of a fixed orbit, HALE UAVs have the potential to replace satellites for certain Tasks in the future. A challenge with this technology is that the current platforms are too heavy to fly for a long period of time. A suggested method for reducing the weight is to remove the landing gear to instead use alternative methods for take-off and landing. One such alternative method is to land the UAV on top of a cooperating ground vehicle. In this thesis, the cooperative controller and the experimental setup of such a landing have been investigated. The cooperation between the systems was analyzed and evaluated analytically, through simulations and with flight tests. Using a PID controller for the position alignment and a modified flare law for the descent, feasibility of the landing was verified by performing a landing of a Penguin BE fixed-wing UAV on top of a cooperating ground vehicle.

Item URL in elib:https://elib.dlr.de/109744/
Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:Cooperative Control for Landing a Fixed-Wing Unmanned Aerial Vehicle on a Ground Vehicle
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Persson, Linnealaperss (at) kth.seUNSPECIFIED
Date:2016
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Number of Pages:88
Status:Published
Keywords:UAV cooperative control, automatic landing System, HALE UAV, Solar UAV
Institution:KTH Royal Institute of Technology
Department:Automatic Control Depatment
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Muskardin, Tin
Deposited On:20 Dec 2016 10:31
Last Modified:31 Jul 2019 20:06

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