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Autonomous Safe Landing of an Unmanned Aerial Vehicle via Adaptive Prediction-Based Control Barrier Functions in the Presence of Atmospheric Uncertainties

Mesbah, Ali | 2025

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 58368 (45)
  4. University: Sharif University of Technology
  5. Department: Aerospace Engineering
  6. Advisor(s): Pourtakdoust, Hossein; Sharifi, Alireza
  7. Abstract:
  8. In recent years, control barrier functions have emerged as a powerful tool for synthesizing safety filters in control systems. However, their use in aviation applications has remained limited. In this thesis, a new class of control barrier functions is developed, followed by an investigation of safe autonomous landing for an unmanned aerial vehicle using safety filters based on the proposed functions. In the first part of the thesis, a control barrier function algorithm is developed that adaptively accounts for the system’s future behavior while considering control input constraints. Consequently, at each sampling time, the high-level control signal is adjusted by the control barrier function, incorporating parameter estimation errors and input disturbances, to ensure safety while respecting control constraints. In the second part of the thesis, the necessary considerations for applying the proposed results to various problems are discussed. To this end, the performance of the developed control method is first examined in conjunction with high-level controllers on benchmark safety-critical control problems. In the third and final part of the thesis, the proposed controller structure is applied to the problem of autonomous landing of an unmanned aerial vehicle under atmospheric disturbances. The objective is to enforce angle-of-attack constraints for stall prevention, limit the trajectory tracking error relative to the pre-planned landing path, and achieve a soft landing. The landing problem is studied using a three-degree-of-freedom nonlinear aircraft model, with disturbances represented by steady wind, white noise, or atmospheric turbulence
  9. Keywords:
  10. Nonlinear Control ; Safety Control ; Safety-Critical Real-Time System ; Control Barrier Function ; Nonlinear Model Prediction ; Atmospheric Turbulence ; Automatic Landing ; Set-Theoretic Control ; Autonomous Airplane Landing

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