Lyapunov-Controlled Quadrotor Landings on Dynamic Mobile Platforms

Résumé fourni par la source

Unmanned aerial vehicles (UAVs) have become indispensable in diverse applications, including delivery, disaster relief, and surveillance. However, achieving precise autonomous landing on mobile platforms, such as moving vehicles or ships, poses significant challenges due to dynamic platform motion, constrained landing spaces, and the nonlinear nature of UAV dynamics. This paper proposes a Lyapunov-based control framework for ensuring accurate and robust quadrotor landings on mobile platforms. By leveraging Lyapunov theory’s stability and convergence principles, the developed control laws guarantee safe navigation and precision landing under dynamic conditions. The methodology incorporates artificial potential fields to manage collision avoidance and workspace constraints, enhancing system reliability. Extensive simulations validate the effectiveness and robustness of the proposed approach, demonstrating its potential for practical implementation in industries requiring UAV operations on moving platforms.

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