Int. J. of Vehicle Autonomous Systems   »   2011 Vol.9, No.1/2

 

 

Title: Multi-vehicle dynamics and control for aerial recovery of micro air vehicles

 

Author: Mark B. Colton, Liang Sun, Daniel C. Carlson, Randal W. Beard

 

Addresses:
Department of Mechanical Engineering, Brigham Young University, Provo, UT 84602, USA.
Department of Electrical and Computer Engineering, Brigham Young University, Provo, UT 84602, USA.
Department of Mechanical Engineering, Brigham Young University, Provo, UT 84602, USA.
Department of Electrical and Computer Engineering, Brigham Young University, Provo, UT 84602, USA

 

Abstract: This paper presents a method for recovering Micro Air Vehicles (MAVs) in flight using a mothership and towed drogue. A method for modelling the dynamics of the mothership-cable-drogue system, based on Gauss's principle, is presented. The differential flatness property of the system is exploited to calculate mothership trajectories from desired drogue orbits, and a Lyapunov based controller is proposed that enables accurate mothership trajectory tracking. A drag-based controller for the drogue is also described. Methods to enable the MAV to estimate and track the drogue orbit are discussed. The modelling and control methods are illustrated through simulation and flight results.

 

Keywords: unmanned air vehicles; MAVs; micro air vehicles; dynamic modelling; trajectory tracking; multi-vehicle dynamics; multi-vehicle control; aerial recovery; towed body systems; backstepping; orbit estimation; orbit tracking; autonomous systems; multiple vehicles; simulation.

 

DOI: 10.1504/IJVAS.2011.038181

 

Int. J. of Vehicle Autonomous Systems, 2011 Vol.9, No.1/2, pp.78 - 107

 

Date of acceptance: 16 Apr 2010
Available online: 21 Jan 2011

 

 

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