Autonomous vertical landing on an oscillating platform: an internal-model based approach

Authors:
L. Marconi;A. Isidori;A. Serrani
Affiliations:
Dipartimento di Elettronica Informatica e Sistemistica, University of Bologna, V. Risorgimento 2, 40136 Bologna, Italy;Dipartimento di Informatica e Sistemistica, University of Rome, V. Eudossiana, 18, 00184 Rome, Italy and Department of Systems Science and Mathematics, Washington University, St.Louis, MO 63130, U ...;Dipartimento di Elettronica e Automatica, University of Ancona, Via Brecce Bianche, 60131 Ancona, Italy
Venue:
Automatica (Journal of IFAC)
Year:
2002

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Abstract

In this paper we address the design of an autopilot for the autonomous landing of a vertical take off and landing vehicle on a ship whose deck oscillates in the vertical direction due to high sea states. The deck motion is modeled as the superposition of a fixed number of sinusoidal functions of time, of unknown frequency, amplitude and phase. We design an internal-model-based error-feedback dynamic regulator that is robust with respect to uncertainties on the mechanical parameters that characterize the model and secures global convergence.