Passivity-Based Adaptive Controller for Dynamic Self-Leveling of a Custom-Built Landing Platform on Top of a UGV

A Passivity-Based Adaptive Controller (PBAC) is derived and tested for the integrated Argo J5 Skid Steering Mobile Robot (SSMR) and custom-built landing platform. The twofold aim is to demonstrate landing platform dynamic self-leveling accuracy, coupled with accurate Argo J5 trajectory tracking in rough and uneven terrains. The overall system dynamic model based on Euler-Lagrange and Terramechanics theory is summarized, followed by derivation of the PBAC. Performance is first tested/evaluated in a MATLAB/Simulink environment using actual/experimentally identified Argo J5-landing platform physical parameter values and constraints. Results are, then, verified/validated using the V-REP Simulation Package. Different terrain slope angles, different platform initial angles, and different realistic Argo J5 velocities are used in all studies. It is observed that dynamic self-leveling is achievable for Argo J5 slow velocities and small slope terrain angles. Results also reveal current design limitations that need to be overcome before actual testing.

I. Introduction

Unmanned Aerial Vehicle (UAV) and Unmanned Aircraft Systems (UASs) support technologies have matured to the point where integrated unmanned system ensembles are developed to increase flexibility, operability, range, and endurance. A specific configuration of interest is an integrated ensemble of a Unmanned Ground Vehicle (UGV) as a base vehicle with a landing platform on top, on which multi-rotors and helicopters may takeoff and land and possibly recharge [1], [2]. Modeling and control of such integrated systems is a challenging problem worthy of investigation.