Altitude Measurement-Based Optimization of the Landing Process of UAVs

Area of Science:

• Robotics
• Control Systems Engineering
• Aerospace Engineering

Background:

• Unmanned aerial vehicles (UAVs) require precise altitude control for complex tasks like landing.
• Existing control strategies may not optimally address multiple performance objectives simultaneously.
• The Mohamed Bin Zayed International Robotics Challenge (MBZIRC 2020) highlights the need for advanced UAV landing capabilities.

Purpose of the Study:

• To develop and validate an optimal loop shaping strategy for UAV altitude control.
• To address specific landing scenarios: minimum-time, minimum-energy, and velocity-penalized.
• To introduce a novel method for generating reference altitude trajectories.

Main Methods:

• Application of loop shaping techniques to UAV altitude control.
• Development of a novel reference altitude trajectory generation method.
• Optimization of control loops based on minimum-time, minimum-energy, and velocity-penalized performance indices.
• Experimental validation using Simulink Support Package for Parrot Minidrones and OptiTrack motion capture system.

Main Results:

• The proposed control strategy achieved optimal performance across the defined indices.
• Minimal values were obtained for time, energy consumption, and velocity-related penalties.
• Experimental results demonstrated the effectiveness of the novel trajectory generation and control approach.
• Successful implementation and testing in preparation for MBZIRC 2020.

Conclusions:

• The presented loop shaping approach provides an effective solution for optimal UAV altitude control during landing.
• The novel trajectory generation method enhances tracking performance in optimized control loops.
• The validated approach is suitable for demanding robotic challenges requiring precise UAV maneuvers.