Autonomous Shipboard Landing Algorithm for Unmanned Helicopters in Crosswind

作者：Shin Heemin^*; You Dongil; Shim David Hyunchul

来源：Journal of Intelligent & Robotic Systems, 2014, 74(1-2): 347-361.

DOI：10.1007/s10846-013-9927-2

• Unmanned helicopter
• Autonomous shipboard landing
• Crosswind landing
• Model uncertainty
• Time-delay control

This paper introduces an algorithm for the autonomous shipboard landing of unmanned helicopters in crosswind, using time-delay control. The proposed algorithm is composed of two parts: the controller, augmented with time-delay control, and the guidance law. The time-delay control is actively adopted to compensate for the model uncertainties of a rotorcraft. The guidance law considers crash avoidance and reentrance procedures, as well as the effects caused by crosswind. The designed algorithm is validated using real-time simulations in MATLAB/Simulink and X-Plane.

• 出版日期2014-4