A Predictive Control Method for Stabilizing a Manipulator-based UAV Landing Platform on Fluctuating Marine Surface
Ruoyu Xu,Xiaoqiang Ji,Jiafan Hou,Hengli Liu,Huihuan Qian,Ruoyu Xu,Xiaoqiang Ji,Jiafan Hou,Hengli Liu,Huihuan Qian
In the process of landing unmanned aerial vehicles (UAVs) on an unmanned surface vehicle (USV), a manipulator can be applied to help the UAV land safely and accurately. However, it is a challenge to control the manipulator on a disturbed USV due to joint velocity constraints and bandwidth limitations. To solve this problem, a predictive control framework is proposed in this paper. We leverage a fi...
