The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Control Strategies for Landing Quadcopters on Ships with Legged Platform Based on Impedance Control

선박 위 착륙을 위한 임피던스 제어기반 쿼드콥터 족형 랜딩플랫폼 제어 전략

  • Received : 2021.12.16
  • Accepted : 2022.01.18
  • Published : 2022.02.28
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Abstract

In this paper, we propose a legged landing platform for the quadcopter taking off and landing in the ship environment. In the ship environment with waves and winds, the aircraft has risks being overturned by contact impact and excessive inclination during landing on the ship. This landing platform has four landing legs under the quadcopter for balancing and shock relief. In order to make the quadcopter balanced on ships, the position of each end effector was controlled by PID control. And shocks have mainly happened when quadcopter contacts the ship's surface as well as legs move fast. Hence, impedance control was used to cope with the shocks. The performance of the landing platform was demonstrated by a simulation and a prototype in three sea states based on a specific size of a ship. During landing and tracking the slope of the ship's surface, oscillations of rotation and translation from the shock were mitigated by the controller. As a result, it was verified that transient response and stability got better by adding impedance control in simulation models and prototype experiments.

Keywords

Acknowledgement

This work was supported by a 2-Year Research Grant of Pusan National University; This work was supported by BK21FOUR, Creative Human Resource Education and Research Programs for ICT Convergence in the 4th industrial Revolution

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