Abstract:
In this letter, we present an approach for achieving precision post-stall landings with medium-sized Group 1 Unmanned Aerial Systems (UAS). To do this, we employ an aggre...Show MoreMetadata
Abstract:
In this letter, we present an approach for achieving precision post-stall landings with medium-sized Group 1 Unmanned Aerial Systems (UAS). To do this, we employ an aggressive dive-and-stall maneuver to significantly reduce maneuver distance, time, and touchdown speed. Our approach relies on a nonlinear model predictive control (NMPC) algorithm and learned aerodynamic coefficients to achieve accuracy and reliability in the presence of wind disturbances. We demonstrate our approach in hardware with a 60-inch wingspan, 4.2 kg fixed-wing UAS, and show the ability to land with low speed and high accuracy using minimal throttle.
Published in: IEEE Robotics and Automation Letters ( Volume: 8, Issue: 5, May 2023)
Funding Agency:
Applied Physics Lab, Johns Hopkins University, Laurel, MD, USA
Applied Physics Lab, Johns Hopkins University, Laurel, MD, USA
Applied Physics Lab, Johns Hopkins University, Laurel, MD, USA
Applied Physics Lab, Johns Hopkins University, Laurel, MD, USA
Applied Physics Lab, Johns Hopkins University, Laurel, MD, USA
Contents Applied Physics Lab, Johns Hopkins University, Laurel, MD, USA
Applied Physics Lab, Johns Hopkins University, Laurel, MD, USA
Applied Physics Lab, Johns Hopkins University, Laurel, MD, USA
Applied Physics Lab, Johns Hopkins University, Laurel, MD, USA
Applied Physics Lab, Johns Hopkins University, Laurel, MD, USA
