• Corpus ID: 2313416

A Control Architecture For Fast And Precise Autonomous Landing Of A VTOL UAV Onto An Oscillating Platform

  title={A Control Architecture For Fast And Precise Autonomous Landing Of A VTOL UAV Onto An Oscillating Platform},
  author={Botao Hu and Nbsp and Lu Lu and Sandipan Mishra},
In this paper, the problem of landing an unmanned aerial vehicle (UAV) on a platform with unknown oscillating motion is investigated. A control architecture that enables fast, safe and precise landing process is proposed. This control architecture consists of three modules: a tracking control module, a trajectory generation module and a vision-based motion estimation module. For the tracking control module, an Adaptive Robust Controller (ARC) is used to robustly adapt to the changes in thrust… 

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