TY - GEN
T1 - Scaled experiments in flight control design for autonomous landing in high sea states
AU - Hendrick, Christopher M.
AU - Nicholson, Duncan J.
AU - Jaques, Emma R.
AU - Horn, Joseph Francis
AU - Langelaan, Jack W.
AU - Sydney, Anish J.
N1 - Funding Information:
This work was sponsored by the Office of Naval Research (ONR) under grant N00014-20-1-2092. The views and conclusions contained herein are those of the authors only and should not be interpreted as representing those of ONR, the U.S. Navy, or the U.S. Government. The authors would also like to thank Jared Soltis of the NSWCCD for his help and insight during experimentation.
Publisher Copyright:
© 2022, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.
PY - 2022
Y1 - 2022
N2 - An autonomous ship landing controller was designed and implemented on two unmanned aerial vehicle (UAV) platforms, which are used in scaled experiments. For scaled experiments to have meaningful carryover to full scale test cases, it is necessary that both vehicle response bandwidth and the frequency content and amplitude of ship motion be scaled appropriately. Easily customized vehicle response was therefore one of the driving requirements during control design. As a first step toward achieving this, system models were obtained for both UAVs via frequency domain system identification using the CIFER® software package. These models were then used in conjunction with the Explicit Model Following (EMF) control architecture, allowing for vehicle response bandwidth to be tailored via a specified ideal response model. In order to test the controller in initial scaled landing experiments, a simple trajectory generation algorithm was developed to guide the vehicle to touchdown on a moving deck. Ten landings were then performed in the Maneuvering and Seakeeping Basin (MASK), located at the Naval Surface Warfare Center Carderock Division (NSWCCD). The results showed the EMF control design to be successful.
AB - An autonomous ship landing controller was designed and implemented on two unmanned aerial vehicle (UAV) platforms, which are used in scaled experiments. For scaled experiments to have meaningful carryover to full scale test cases, it is necessary that both vehicle response bandwidth and the frequency content and amplitude of ship motion be scaled appropriately. Easily customized vehicle response was therefore one of the driving requirements during control design. As a first step toward achieving this, system models were obtained for both UAVs via frequency domain system identification using the CIFER® software package. These models were then used in conjunction with the Explicit Model Following (EMF) control architecture, allowing for vehicle response bandwidth to be tailored via a specified ideal response model. In order to test the controller in initial scaled landing experiments, a simple trajectory generation algorithm was developed to guide the vehicle to touchdown on a moving deck. Ten landings were then performed in the Maneuvering and Seakeeping Basin (MASK), located at the Naval Surface Warfare Center Carderock Division (NSWCCD). The results showed the EMF control design to be successful.
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U2 - 10.2514/6.2022-3280
DO - 10.2514/6.2022-3280
M3 - Conference contribution
AN - SCOPUS:85135376973
SN - 9781624106354
T3 - AIAA AVIATION 2022 Forum
BT - AIAA AVIATION 2022 Forum
PB - American Institute of Aeronautics and Astronautics Inc, AIAA
T2 - AIAA AVIATION 2022 Forum
Y2 - 27 June 2022 through 1 July 2022
ER -