{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,20]],"date-time":"2026-03-20T21:25:29Z","timestamp":1774041929531,"version":"3.50.1"},"reference-count":36,"publisher":"Cambridge University Press (CUP)","issue":"5","license":[{"start":{"date-parts":[[2021,9,20]],"date-time":"2021-09-20T00:00:00Z","timestamp":1632096000000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2022,5]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>This research deals with the autonomous landing maneuver of a quadrotor unmanned aerial vehicle (UAV) on an unmanned ground vehicle (UGV). It is assumed that the UGV moves independently, and there is no communication and collaboration between the two vehicles. This paper aims at the design of a closed-loop vision-based control system for quadrotor UAV to perform autonomous landing maneuvers in the possible minimum time despite the wind-induced disturbance force. In this way, a fractional-order fuzzy proportional-integral-derivative controller is introduced for the nonlinear under-actuated system of a quadrotor. Also, a feedback linearization term is included in the control law to compensate model nonlinearities. A supervisory control algorithm is proposed as an autonomous landing path generator to perform fast, smooth, and accurate landings. On the other hand, a compound AprilTag fiducial marker is employed as the target of a vision positioning system, enabling high precision relative positioning in the range between 10 and 350 cm height. A software-in-the-loop simulation testbed is realized on the windows platform. Numerical simulations with the proposed control system are carried out, while the quadrotor system is exposed to different disturbance conditions and actuator dynamics with saturated thrust output are considered.<\/jats:p>","DOI":"10.1017\/s0263574721001181","type":"journal-article","created":{"date-parts":[[2021,9,20]],"date-time":"2021-09-20T06:04:17Z","timestamp":1632117857000},"page":"1431-1449","source":"Crossref","is-referenced-by-count":31,"title":["Autonomous landing of a quadrotor on a moving platform using vision-based FOFPID control"],"prefix":"10.1017","volume":"40","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2006-3626","authenticated-orcid":false,"given":"Ali","family":"Ghasemi","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Farhad","family":"Parivash","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2255-8000","authenticated-orcid":false,"given":"Serajeddin","family":"Ebrahimian","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2021,9,20]]},"reference":[{"key":"S0263574721001181_ref31","volume-title":"Fuzzy Sets and Fuzzy Logic: The Foundations of Application\u2014From A Mathematical Point of View","author":"Gottwald","year":"2013"},{"key":"S0263574721001181_ref1","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574720000491"},{"key":"S0263574721001181_ref6","doi-asserted-by":"publisher","DOI":"10.1109\/CCA.2010.5611204"},{"key":"S0263574721001181_ref17","unstructured":"[17] Lange, S. , Sunderhauf, N. and Protzel, P. , \u201cA Vision Based Onboard Approach for Landing and Position Control of an Autonomous Multirotor UAV in GPS-Denied Environments,\u201d In: 2009 International Conference on Advanced Robotics (2009, June. IEEE) pp. 1\u20136."},{"key":"S0263574721001181_ref14","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-010-9473-0"},{"key":"S0263574721001181_ref27","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574720000247"},{"key":"S0263574721001181_ref9","doi-asserted-by":"crossref","first-page":"429","DOI":"10.1007\/978-3-319-03674-8_41","volume-title":"Advance Trends in Soft Computing","author":"Benavidez","year":"2014"},{"key":"S0263574721001181_ref21","doi-asserted-by":"publisher","DOI":"10.1109\/ICCA.2017.8003095"},{"key":"S0263574721001181_ref7","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2010.5652633"},{"key":"S0263574721001181_ref36","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2005.1577023"},{"key":"S0263574721001181_ref16","doi-asserted-by":"crossref","unstructured":"[16] Kim, J. , Jung, Y. , Lee, D. and Shim, D. H. , \u201cOutdoor Autonomous Landing on a Moving Platform for Quadrotors Using an Omnidirectional Camera,\u201d In: 2014 International Conference on Unmanned Aircraft Systems (ICUAS) (2014, May. IEEE) pp. 1243\u20131252.","DOI":"10.1109\/ICUAS.2014.6842381"},{"key":"S0263574721001181_ref11","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2604495"},{"key":"S0263574721001181_ref29","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2016.2614672"},{"key":"S0263574721001181_ref34","doi-asserted-by":"publisher","DOI":"10.1016\/j.eswa.2013.12.030"},{"key":"S0263574721001181_ref10","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6224828"},{"key":"S0263574721001181_ref13","doi-asserted-by":"publisher","DOI":"10.1109\/TAES.2017.2671698"},{"key":"S0263574721001181_ref23","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2019.2896075"},{"key":"S0263574721001181_ref12","doi-asserted-by":"publisher","DOI":"10.1109\/MED.2015.7158723"},{"key":"S0263574721001181_ref19","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5979561"},{"key":"S0263574721001181_ref32","unstructured":"[32] Niemiec, M. , Fuzzy Inference System: Theory and Applications (Scitus Academics LLC, 2016)."},{"key":"S0263574721001181_ref5","doi-asserted-by":"publisher","DOI":"10.1016\/j.ejor.2020.01.053"},{"key":"S0263574721001181_ref3","doi-asserted-by":"publisher","DOI":"10.1007\/978-90-481-9707-1_95"},{"key":"S0263574721001181_ref18","unstructured":"[18] Yang, S. , Ying, J. , Lu, Y. and Li, Z. , \u201cPrecise Quadrotor Autonomous Landing with SRUKF Vision Perception,\u201d In: 2015 IEEE International Conference on Robotics and Automation (ICRA) (2015, May. IEEE) pp. 2196\u20132201."},{"key":"S0263574721001181_ref25","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2019.05.004"},{"key":"S0263574721001181_ref30","doi-asserted-by":"publisher","DOI":"10.1109\/KBEI.2017.8325038"},{"key":"S0263574721001181_ref8","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-014-9400-5"},{"key":"S0263574721001181_ref28","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574719000316"},{"key":"S0263574721001181_ref20","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2017.08.1980"},{"key":"S0263574721001181_ref33","first-page":"45","article-title":"Trajectory tracking control of quadrotor using fractional-order fuzzy PID controller in the presence of wind disturbance","volume":"18","author":"Parivash","year":"2018","journal-title":"Modares Mech. Eng."},{"key":"S0263574721001181_ref35","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-20144-8"},{"key":"S0263574721001181_ref15","doi-asserted-by":"publisher","DOI":"10.1016\/j.ijleo.2012.10.060"},{"key":"S0263574721001181_ref2","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574720000673"},{"key":"S0263574721001181_ref26","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2019.05.015"},{"key":"S0263574721001181_ref24","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-018-0891-8"},{"key":"S0263574721001181_ref4","doi-asserted-by":"publisher","DOI":"10.1016\/j.trc.2020.102813"},{"key":"S0263574721001181_ref22","doi-asserted-by":"publisher","DOI":"10.3390\/robotics7040071"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574721001181","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,4,12]],"date-time":"2022-04-12T11:36:14Z","timestamp":1649763374000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574721001181\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,9,20]]},"references-count":36,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2022,5]]}},"alternative-id":["S0263574721001181"],"URL":"https:\/\/doi.org\/10.1017\/s0263574721001181","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,9,20]]}}}