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Robot Assisted Landing of VTOL UAVs on Ships: A Simulation Case Study of the Touch-down Phase

Maier, Moritz and Kondak, Konstantin (2017) Robot Assisted Landing of VTOL UAVs on Ships: A Simulation Case Study of the Touch-down Phase. In: 1st IEEE Conference on Control Technology and Applications. IEEE Control Systems Society. 1st IEEE Conference on Control Technology and Applications, 27-30 Aug 2017, Hawai'i, USA.

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Abstract

Robot assisted landing means to use a robot ma- nipulator to capture a vertical take-off and landing unmanned aerial vehicle (VTOL UAV) in flight and tow it to a designated landing spot. This procedure enables the VTOL UAV to land on moving surfaces and under side wind conditions. In our previous work, we neglected ship motion, the influence of the UAV on the manipulator, and the torque limits of the robot, which is only valid for light UAVs. Therefore, in this paper, we present a multibody dynamics model of a moving base robot manipulator with a VTOL UAV attached at its end- effector via a ball joint. For the robot, a task space tracking controller with base motion compensation is derived and for the UAV, an active thrust vector control law. We evaluate the effect of heavy UAVs and of base motion compensation on the trajectory tracking performance in a simulation case study using five sets of realistic VTOL UAV model parameters as well as base movements provided by a ship motion simulation at three different sea states. The results clearly show that active thrust vector control is needed in order to comply with the robots joint torque limits.

Item URL in elib:https://elib.dlr.de/113136/
Document Type:Conference or Workshop Item (Speech)
Title:Robot Assisted Landing of VTOL UAVs on Ships: A Simulation Case Study of the Touch-down Phase
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Maier, MoritzMoritz.Maier (at) dlr.deUNSPECIFIED
Kondak, Konstantinkonstantin.kondak (at) dlr.deUNSPECIFIED
Date:August 2017
Journal or Publication Title:1st IEEE Conference on Control Technology and Applications
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Editors:
EditorsEmail
Spong, Mark W.mspong@utdallas.edu
Publisher:IEEE Control Systems Society
Status:Published
Keywords:Aerial robotics, Control theory, Rigid-body dynamics, Robotics, Robotics applications
Event Title:1st IEEE Conference on Control Technology and Applications
Event Location:Hawai'i, USA
Event Type:international Conference
Event Dates:27-30 Aug 2017
Organizer:IEEE Control Systems Society
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: Maier, Moritz
Deposited On:17 Jul 2017 17:23
Last Modified:11 Feb 2018 11:35

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