Autonomous vertical landing on an oscillating platform: an internal-model based approach

被引：135

作者：

Marconi, L

Isidori, A

Serrani, A

机构：

[1] Univ Bologna, Dipartimento Elettron Informat & Sistemist, I-40136 Bologna, Italy

[2] Univ Roma La Sapienza, Dipartimento Informat & Sistemist, I-00184 Rome, Italy

[3] Washington Univ, Dept Syst Sci & Math, St Louis, MO 63130 USA

[4] Univ Ancona, Dipartimento Elettron & Automat, I-60131 Ancona, Italy

来源：

AUTOMATICA | 2002年 / 38卷 / 01期

关键词：

vertical take off and landing; robust tracking; output regulation; global stabilization; saturated controls; nonlinear systems;

D O I：

10.1016/S0005-1098(01)00184-4

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper we address the design of an autopilot for the autonomous landing of a vertical take off and landing vehicle on a ship whose deck oscillates in the vertical direction due to high sea states. The deck motion is modeled as the superposition of a fixed number of sinusoidal functions of time, of unknown frequency, amplitude and phase. We design an internal-model-based error-feedback dynamic regulator that is robust with respect to uncertainties on the mechanical parameters that characterize the model and secures global convergence. (C) 2001 Elsevier Science Ltd. All rights reserved.

引用

页码：21 / 32

页数：12

共 21 条

[11]

Isidori A., 1999, Nonlinear control systems II, VII

[12] ROBUST SERVOMECHANISM OUTPUT-FEEDBACK CONTROLLERS FOR FEEDBACK LINEARIZABLE SYSTEMS [J].