Prescribed Performance Evolution Control for Quadrotor Autonomous Shipboard Landing

Abstract

The shipboard landing problem for a quadrotor is addressed in this paper, where the ship trajectory tracking control issue is transformed into a stabilization control issue by building a relative position model. To guarantee both transient performance and steady-state landing error, a prescribed performance evolution control (PPEC) method is developed for the relative position control. In addition, a novel compensation system is proposed to expand the performance boundaries when the input saturation occurs and the error exceeds the predefined threshold. Considering the wind and wave on the relative position model, an adaptive sliding mode observer (ASMO) is designed for the disturbance with unknown upper bound. Based on the dynamic surface control framework, a shipboard landing controller integrating PPEC and ASMO is established for the quadrotor, and the relative position control error is guaranteed to be uniformly ultimately bounded. Simulation results have verified the feasibility and effectiveness of the proposed shipboard landing control scheme.