A Robust Control Strategy for Landing an Unmanned Aerial Vehicle on a Vertically Moving Platform

Abstract

In this work, we solve the uncertain unmanned aerial vehicle smooth landing problem over a moving platform, assuming that the aircraft position relative to the platform and its acceleration is always measurable. The landing task is carried out by an output-feedback robust controller, together with a repulsive force. The robust controller controls the nominal model, accomplishes the needed tracking trajectory, and counteracts the unknown uncertainties. To assure that the aircraft is always above the platform, we include a repulsive force that only works in a small vicinity of the platform. To estimate the relative aircraft velocity and platform acceleration, we use a supertwisting-based observer, assuring finite-time convergence of these signals. This fact allowed us to design the feedback state stabilizer independently of the observer design (in accordance with the separation principle). We confirmed the effectiveness of our control approach by convincing numerical simulations.

Guidance Law for Autonomous Takeoff and Landing of Unmanned Helicopter on Mobile Platform Based on Asymmetric Tracking Differentiator

“…Through looking up the literature [37], the whole process of landing on a mobile platform is divided into the approaching stage, the following stage and the landing stage. During the approaching stage, the unmanned helicopter departs from its original flight path and approaches the target mobile platform.…”