Landing a quadrotor on a mobile platform with unknown trajectories poses significant challenges, particularly when the platform is noncooperative. This study presents a vision-based autonomous landing architecture for a quadrotor and an unmanned ground vehicle, integrating a mixed H 2 / H control framework with a linear matrix inequality approach. To achieve the proposed controller, first, experimental data are used to encapsulate multiplicative uncertainty, which represents the difference between the experimental response of the real quadcopter and the response of the modeled system. The proposed control methodology combines H 2 and H control to achieve precise landings and robust disturbance rejection, using linear matrix inequalities for efficient controller synthesis. To validate the algorithm, several software-in-the-loop simulations were implemented to demonstrate tracking and vertical landing performance under different disturbance conditions while considering actuator dynamics. The proposed mixed H 2 / H controller significantly outperforms the traditional Proportional–integral–derivative (PID) controller in both landing time and accuracy across various disturbance conditions, achieving up to 82.89% improvement in landing time under a 0.3    m / s wind disturbance and 56.6% improvement in landing accuracy under undisturbed conditions.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Mixed H 2 / H Control for Autonomous Quadrotor Landing via Linear Matrix Inequality Optimization


    Beteiligte:
    Qi, Jingwei (Autor:in) / Zhao, Li-Cai (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    01.03.2025




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





    Autonomous Quadrotor Landing using Deep Reinforcement Learning

    Polvara, Riccardo / Patacchiola, Massimiliano / Sharma, Sanjay et al. | ArXiv | 2017

    Freier Zugriff

    Autonomous Landing of a Quadrotor on an UGV

    Fu, Mengyin / Zhang, Kuan / Yi, Yang et al. | British Library Conference Proceedings | 2016


    Visual Environment Assessment for Safe Autonomous Quadrotor Landing

    Secchiero, Mattia / Bobbili, Nishanth / Zhou, Yang et al. | IEEE | 2024


    Autonomous landing of quadrotor based on ground effect modelling

    Danjun, Li / Yan, Zhou / Zongying, Shi et al. | IEEE | 2015