Control of aerial vehicles for landing on oscillating platforms

Given the dynamic model of a UAV, a set of virtual geometric constraints is imposed on the system. Once these constraints are reached through a feedback control law, it is possible to show that the system exhibits a limit cycle that is the periodic trajectory to track. The work aims to keep the UAV on such a periodic trajectory. It is possible to stabilize the aerial vehicle on this oscillating motion through a modified LQR controller, designed based on a linear periodic system approximating the system dynamics around the desired orbit.

Proposed solutions:

• V. Lippiello, F. RUGGIERO, Orbital stabilization of a VToL UAV for landing on oscillating platforms, 2016 International Symposium on Safety, Security and Rescue Robotics, Lausanne, CH, pp. 131-138, 2016, DOI: 10.1109/SSRR.2016.7784289.