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Autonomous Shipboard Landing Algorithm for Unmanned Helicopters in Crosswind

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Abstract

This paper introduces an algorithm for the autonomous shipboard landing of unmanned helicopters in crosswind, using time-delay control. The proposed algorithm is composed of two parts: the controller, augmented with time-delay control, and the guidance law. The time-delay control is actively adopted to compensate for the model uncertainties of a rotorcraft. The guidance law considers crash avoidance and reentrance procedures, as well as the effects caused by crosswind. The designed algorithm is validated using real-time simulations in MATLAB/Simulink and X-Plane.

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Authors and Affiliations

  1. Department of Aerospace Engineering, KAIST, Daejeon, South Korea

    Heemin Shin, Dongil You & David Hyunchul Shim

Authors
  1. Heemin Shin
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  2. Dongil You
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  3. David Hyunchul Shim
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Correspondence to Heemin Shin.

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Shin, H., You, D. & Shim, D.H. Autonomous Shipboard Landing Algorithm for Unmanned Helicopters in Crosswind. J Intell Robot Syst 74, 347–361 (2014). https://doi.org/10.1007/s10846-013-9927-2

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  • DOI: https://doi.org/10.1007/s10846-013-9927-2

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