This paper presents preliminary theoretical results about asymptotic orbital stabilization of an aerial vehicle for landing on a periodic oscillating platform. A feedback controller firstly stabilizes a chosen set of virtual geometric constraints. This pushes the dynamics of the aerial vehicle to reach a limit cycle, that is in turn the periodic motion of the landing platform to track. Then, a linear periodic system is considered around the vicinity of the orbit, and it is stabilized through a modified LQR design. Mathematical and theoretical frameworks are presented along with case studies that are critically discussed.
Orbital stabilization of a VToL UAV for landing on oscillating platforms / Lippiello, Vincenzo; Ruggiero, Fabio. - (2016), pp. 131-138. ( 2016 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR) Losanna, Svizzera 23-27 October 2016) [10.1109/SSRR.2016.7784289].
Orbital stabilization of a VToL UAV for landing on oscillating platforms
LIPPIELLO, VINCENZO;RUGGIERO, FABIO
2016
Abstract
This paper presents preliminary theoretical results about asymptotic orbital stabilization of an aerial vehicle for landing on a periodic oscillating platform. A feedback controller firstly stabilizes a chosen set of virtual geometric constraints. This pushes the dynamics of the aerial vehicle to reach a limit cycle, that is in turn the periodic motion of the landing platform to track. Then, a linear periodic system is considered around the vicinity of the orbit, and it is stabilized through a modified LQR design. Mathematical and theoretical frameworks are presented along with case studies that are critically discussed.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
