Hybrid Control of Unmanned Aerial Vehicles for Autonomous Landing
Tak-Kuen John Koo, Shankar Sastry · 2003
In this paper, we demonstrate how to solve the autonomous landing problem for UAVs based on hybrid systemtheory. AUAVsystemwhichconsistsofvehicle dynamics, inner controller, outer controller, and pack controllerisconsidered. Theouter-innerloopofthevehiclewhichexhibitsmulti-modalbehaviorsismodelled asahybridsystem. Thehybridsystemdeflnestheoperationalsemanticsofthesystemwithbothdiscreteand continuousdynamicsundersetsofstateconstraints. A hybrid pack controller which can control the discrete evolutionofthehybridsystembasedonthecontinuous state is designed. The autonomous landing problem is thensolvedbyencodingswitchingsequencesinthepack controller for the phases in a landing scenario. Reachabilitycomputationisusedforshowingthecorrectness ofthedesignwithrespecttoreachabilityspeciflcations. The pack controller is designed so that the size of the tra‐c pattern and the hook in time can be parameterized for obtaining optimal performance. The UAV systemarerealizedandsimulatedinHyVisual,ahybrid system visual modeler.