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Cooperative Control for Landing a Fixed-Wing Unmanned Aerial Vehicle on a Ground Vehicle
KTH, School of Electrical Engineering (EES).ORCID iD: 0000-0002-1124-5009
2016 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

High Altitude Long Endurance (HALE) platforms are a type of Unmanned Aerial Vehicle (UAV). With their relatively easy deployment and independence of a fixed orbit, HALE UAVs have the potential to replace satellites for certain tasks in the future. A challenge with this technology is that the current platforms are too heavy to fly for a long period of time. A suggested method for reducing the weight is to remove the landing gear to instead use alternative methods for take-off and landing. One such alternative method is to land the UAV on top of a cooperating ground vehicle. In this thesis, the cooperative controller and the experimental setup of such a landing have been investigated. The cooperation between the systems was analyzed and evaluated analytically, through simulations and with flight tests. Using a PID controller for the position alignment and a modified flare law for the descent, feasibility of the landing was verified by performing a landing of a Penguin BE fixed-wing UAV on top of a cooperating ground vehicle.

Abstract [sv]

Så kallade HALE - High Altitude Long Endurance -farkoster är en växande teknik inom området för autonoma flygplan. Med fördelar som exempelvis en möjlighet att röra sig oberoende av en omloppsbana samt en mer effektiv implementering– och utvecklingsprocess har de visat potential att i framtiden kunna ersätta satelliter inom vissa områden. Ett problem är i dagsläget svårigheten att bygga tillräckligt lätta farkoster för att kunna flyga under en längre tidsperiod. För att minska vikten har det bland annat föreslagits att landningsställ kan tas bort för att istället använda alternativa start- och landningsmetoder. I detta projekt har en metod undersökts där idén är att landa ett autonomt flygplan på en mobil plattform. Samarbetet mellan systemen har analyserats både analytiskt och genom tester. Slutligen verifieras att en kooperativ landning är genomförbar genom att en landning av ett obemannat flygplan på en samarbetande bil utförs.

Place, publisher, year, edition, pages
2016. , 74 p.
Series
EES Examensarbete / Master Thesis, TRITA EE 2016:028
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-187667OAI: oai:DiVA.org:kth-187667DiVA: diva2:930987
Examiners
Available from: 2016-05-26 Created: 2016-05-26 Last updated: 2016-08-12Bibliographically approved

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CiteExportLink to record
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  • apa
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