用滚动优化控制实现直升机精准定时着舰，抗风能力强。
Robust Helicopter Ship Deck Landing With Guaranteed Timing Using Shrinking-Horizon Model Predictive Control
- 基于滚动时域预测控制，动态建模与实时优化结合
- 强风下仍保持高着陆精度，计算耗时毫秒级
- 适合对时间与安全要求高的海上自主着舰场景
本文提出一种运行高效的自主直升机着舰算法，基于收缩时域模型预测控制（SHMPC）。首先构建能捕捉全非线性直升机动力学特性的规划模型；随后结合SHMPC与触地控制器，确保在扰动存在下仍满足预设机动时长和着陆时间窗口。通过设计带扰动反馈的辅助控制器，实现优异的抗干扰性能。只要初始优化问题可行，即可保证安全着陆并满足合适终端条件。仿真结果表明，在强风环境下所有机动均实现高精度着陆，同时满足时间和操作约束，最大计算时间在毫秒级别。
原文摘要 · Abstract (English)
We present a runtime efficient algorithm for autonomous helicopter landings on moving ship decks based on Shrinking-Horizon Model Predictive Control (SHMPC). First, a suitable planning model capturing the relevant aspects of the full nonlinear helicopter dynamics is derived. Next, we use the SHMPC together with a touchdown controller stage to ensure a pre-specified maneuver time and an associated landing time window despite the presence of disturbances. A high disturbance rejection performance is achieved by designing an ancillary controller with disturbance feedback. Thus, given a target position and time, a safe landing with suitable terminal conditions is be guaranteed if the initial optimization problem is feasible. The efficacy of our approach is shown in simulation where all maneuvers achieve a high landing precision in strong winds while satisfying timing and operational constraints with maximum computation times in the millisecond range.
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