Modeling and docking control of UAV aerial recovery in form of telescopic boom

被引：0
|
作者：
Su Z. [1 ]
Xu Z. [1 ]
Li C. [1 ]
Chen H. [1 ]
Wang H. [2 ]
机构：
[1] College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing
[2] School of Automation Science and Electrical Engineering, Beihang University, Beijing
来源：
Hangkong Xuebao/Acta Aeronautica et Astronautica Sinica | 2023年 / 44卷 / 01期
基金：
中国国家自然科学基金; 中国博士后科学基金;
关键词：
aerial recovery; disturbance estimation; docking control; sliding mode control; telescopic boom;
D O I：
10.7527/S1000-6893.2021.26315
中图分类号：
学科分类号：
摘要：
To handle the problem of aerial recovery of small fixed-wing Unmanned Aerial Vehicle （UAV） without reliable land-based or sea-based landing platforms，a modeling and docking control method for grabbing aerial recovery with the telescopic boom is proposed. Firstly，inspired by the flying boom aerial refueling technology，a UAV recovery method based on telescopic boom grabbing is proposed. An affine nonlinear model for telescopic boom aerial recovery is constructed using the mass projection method of rigid body rotational inertia and the Lagrangian method. Secondly，the aerodynamic characteristic of the telescopic boom under the influence of tailing vortex and constant wind disturbance is analyzed. Thirdly，a finite-time convergence nonsingular fast terminal sliding mode disturbance observer is designed to accurately estimate the lumped disturbances including the effects of the turbulence related items and the unmeasurable transient model disturbances in the three channels of the telescopic boom. With the feed-forward compensations of these lumped disturbances，a disturbance observation based nonsingular fast terminal sliding mode docking control method is proposed to achieve rapid and accurate aerial docking between the telescopic boom and UAVs with multiple turbulences. Therewith，Stability of the closed-loop system is discussed with Lyapunov analysis. Finally，the simulation results show that the proposed method has higher control accuracy and better anti-disturbance ability. © 2023 AAAS Press of Chinese Society of Aeronautics and Astronautics. All rights reserved.
引用
收藏
相关论文
共 28 条
  • [1] WANG X K, LIU Z H, CONG Y R，, Et al., Miniature fixed-wing UAV swarms：Review and outlook［J］, Acta Aeronautica et Astronautica Sinica, 41, 4, (2020)
  • [2] BEARD R W, MCLAIN T W，, NELSON D B, Et al., Decentralized cooperative aerial surveillance using fixed-wing miniature UAVs［J］, Proceedings of the IEEE, 94, 7, pp. 1306-1324, (2006)
  • [3] SU Z K, WANG X W, WANG H L，, Neural-adaptive constrained flight control for air ground recovery under terrain obstacles［J］, IEEE Transactions on Aerospace and Electronic Systems, 58, 1, pp. 374-390, (2021)
  • [4] ZHEN Z Y., Anti-disturbance constrained control of the air recovery carrier via an integral barrier Lyapunov function［J］, Aerospace Science and Technology, 106, (2020)
  • [5] SONG Y R, SHEN C, LI D B., Research progress of distributed low-cost UAV cluster in America［J］, Aerodynamic Missile Journal, 8, pp. 17-22, (2016)
  • [6] SUN L, BEARD R W, COLTON M B, Et al., Dynamics and control of cable-drogue system in aerial recovery of micro air vehicles based on Gauss's principle［C］, Proceedings of the 2009 conference on American Control Conference, (2009)
  • [7] LIU Y H., Anti-disturbance dynamic surface trajectory stabilization for the towed aerial recovery drogue under unknown airflow disturbances［J］, Mechanical Systems and Signal Processing, 150, (2021)
  • [8] SMITH J，, KUNZ D., Simulation of the dynamically coupled KC-135 tanker and flying boom, (2007)
  • [9] SMITH J, KUNZ D., Dynamic coupling of the KC-135 tanker and boom for modeling and simulation［J］, Journal of Aircraft, 44, 3, pp. 1034-1039, (2007)
  • [10] XUE J P，, CHEN B, WANG X P., Control law research on aerial refueling boom［J］, Flight Dynamics, 26, 4, pp. 14-18, (2008)
123