Multi-vehicle dynamics and control for aerial recovery of micro air vehicles
نویسندگان
چکیده
Aerial recovery of micro air vehicles (MAVs) presents a challenging problem in multi-vehicle dynamics and control. This paper presents a method for recovering MAVs in ight using a mothership and towed drogue, in which the mothership executes an orbit that places the drogue in a stable, slower orbit that can be tracked by a MAV. A method for modeling the dynamics of the mothership-cabledrogue system, based on Gauss's principle, is presented. The di erential atness property of the system is exploited to calculate mothership trajectories from desired drogue orbits, and a backstepping controller is proposed that enables accurate mothership trajectory tracking. A drag-based controller for the drogue is also described. Methods to enable the MAV to estimate and track the drogue orbit are discussed. The modeling and control methods are illustrated through simulation and ight results.
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