Aerial Autonomous Docking Control Method of Quadrotor UAV

Yibo Wu*, Haoping She

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Citation (Scopus)

Abstract

The unmanned aerial vehicles (UAV) can autonomously assemble in the air, so as to deal with different scenarios and mission requirements. However, on the problem of autonomous aerial docking of rotorcraft UAVs, there are few existing research and most of them focus on docking with hovering UAVs. This paper proposes a solution to the problem of docking with hovering or moving quadrotor. The whole docking process is divided into the approach phase, the tracking phase and the docking phase. In the tracking phase and the docking phase, guidance methods are proposed according to the phase targets correspondingly. A docking controller which can adaptively estimate the desired point velocity and external disturbance is used to control the quadrotor UAV to complete the docking. The final simulation results show that the proposed method can complete the autonomous docking with a moving quadrotor UAV under disturbance.

Original languageEnglish
Title of host publicationProceedings of the 35th Chinese Control and Decision Conference, CCDC 2023
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3362-3369
Number of pages8
ISBN (Electronic)9798350334722
DOIs
Publication statusPublished - 2023
Event35th Chinese Control and Decision Conference, CCDC 2023 - Yichang, China
Duration: 20 May 202322 May 2023

Publication series

NameProceedings of the 35th Chinese Control and Decision Conference, CCDC 2023

Conference

Conference35th Chinese Control and Decision Conference, CCDC 2023
Country/TerritoryChina
CityYichang
Period20/05/2322/05/23

Keywords

  • autonomous docking
  • backstepping adaptive control
  • disturbance rejection
  • guidance
  • quadrotor

Fingerprint

Dive into the research topics of 'Aerial Autonomous Docking Control Method of Quadrotor UAV'. Together they form a unique fingerprint.

Cite this