Rendezvous Guidance Laws for Aerial Recovery using Mothership-Cable-Drogue System

Thakar, Shantanu and Ratnoo, Ashwini (2016) Rendezvous Guidance Laws for Aerial Recovery using Mothership-Cable-Drogue System. In: 4th IFAC Conference on Advances in Control and Optimization of Dynamical Systems (ACODS 2016), FEB 01-05, 2016, Tiruchirappalli, INDIA, pp. 24-29.

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Abstract

This paper presents a comparison of prospective guidance laws for aerial recovery of UAVs using a Mothership-Cable-Drogue system. The guidance methods for rendezvous should simultaneously take the LOS distance, the LOS rate and the relative velocity between the UAV and the drogue to zero. Furthermore, the guidance laws should ensure the terminal alignment of the UAV along the longitudinal axis of the drogue. This alignment is quantified as a funnel shaped spatial region with its narrow end at the conical drogue. The paper essentially compares the two guidance laws, pure pursuit and trajectory shaping, on the basis of the entry of the UAV into this funnel. The comparison is presented in terms of the UAV conditions (position and heading) that lead to a rendezvous satisfying the terminal spatial constraints. (C) 2016, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

Item Type:	Conference Proceedings
Publication:	IFAC PAPERSONLINE
Publisher:	ELSEVIER SCIENCE BV
Additional Information:	Copy right for this article belongs to the ELSEVIER SCIENCE BV, PO BOX 211, 1000 AE AMSTERDAM, NETHERLANDS
Keywords:	Dynamic modelling; Cables; Lumped-parameter systems; Guidance systems; Aerial Rendezvous
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	20 Jul 2016 08:55
Last Modified:	20 Jul 2016 08:55
URI:	http://eprints.iisc.ac.in/id/eprint/54217

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