NMPC-based UAV-USV cooperative tracking and landing |
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| Institution: | 1. School of Electrical Engineering, Anhui Polytechnic University, Wuhu241000, China;2. School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan 430074, China;3. Department of Automation, University of Science and Technology of China, Hefei 230026, China;1. College of Control Science and Engineering, Bohai University, Jinzhou 121013, China;2. School of Information Science and Engineering, Shandong Normal University, Jinan 250014, China;3. School of Control Science and Engineering, Tiangong University, Tianjin 300387, China;4. Faculty of Electronic Information and Electrical Engineering, Dalian University of Technology, Dalian 116024, China;5. Communication Systems and Networks Research Group, Department of Electrical and Computer Engineering, Faculty of Engineering, King Abdulaziz University, Jeddah, Saudi Arabia;1. College of Control Science and Engineering, Bohai University, Jinzhou, Liaoning 121013, China;2. School of Automation, Qingdao University, Qingdao, Shandong 266071, China;3. School of Mathematics and Statistics, Xinyang Normal University, Xinyang, Henan 464000, China;1. National Research Base of Intelligent Manufacturing Service, Chongqing Technology and Business University, Chongqing 400067, China;2. Chongqing Innovation Center of Industrial Big-Data Co., Ltd., Chongqing, 400707, China;3. School of Mechanical Engineering, Chongqing Technology and Business University, Chongqing, China;4. College of Control Science and Engineering, Bohai University, Jinzhou 121013, China;5. Department of Mathematics, Bharathiar University, Coimbatore, Tamilnadu 641046, India;1. School of Information and Control Engineering, Qingdao University of Technology, Qingdao, Shandong 266520, PR China;2. School of Engineering, Qufu Normal University, Rizhao, Shandong 276826, PR China;3. School of Automation, Southeast University, Nanjing, Jiangsu 210096, PR China;1. School of Automation,Central South University,Changsha,410083, China;2. Department of Electrical and Electronic Engineering, Chiba University, Chiba,263–8522,Japan |
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| Abstract: | The study aims to solve the problem of real time tracking and precise landing of unmanned aerial vehicle (UAV) during unmanned surface vehicle (USV) navigation. In this paper, a UAV-USV cooperative tracking and landing control strategy based on nonlinear model predictive control (NMPC) is proposed. Firstly, the UAV-USV heterogeneous intelligent body collaborative system is constructed based on the mathematical model of UAV and USV; secondly, the tracking controller is designed based on NMPC algorithm to ensure that the UAV can track the USV in real time; finally, a UAV-USV cooperative landing control strategy is proposed to realize the heave motion of the USV to the peak vertex, thus, the UAV completes the precise landing with the minimum impact. As the simulation experimental results show, the UAV-USV cooperative tracking and landing control scheme proposed in this paper can provide effective solution against real time tracking and accurate landing of UAV during the navigation of USV. |
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