Fixed-wing unmanned aerial vehicle landing control method based on self-adaptive dynamic inverse
A control method and unmanned aerial vehicle technology, applied in the direction of attitude control, non-electric variable control, control/regulation system, etc., can solve the difficult to meet the complex environment and high precision requirements of unmanned aerial vehicle landing, and the ship deck can be landed Issues such as narrow areas, complex atmospheric disturbances for drone landings, etc.
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[0094] The technical solution of the present invention will be described in detail below in conjunction with the accompanying drawings.
[0095] The present invention designs a landing control method for a fixed-wing UAV based on adaptive dynamic inversion, and the steps are as follows:
[0096] Step 1: Establish a non-linear model of the UAV under wind disturbance, and obtain the expression of the force and moment on the UAV;
[0097] Step 2: Design the inner loop control law based on the adaptive dynamic inverse method according to the UAV's inner loop differential equation;
[0098] Step 3: Design the track angle loop control law based on the nonlinear dynamic inverse method;
[0099] Step 4: Design an ideal relative trajectory for the UAV to land on a ship, the ideal relative trajectory in turn includes a horizontal flight section, a circular arc transition section, a straight down section and a terminal guide section;
[0100] Step 5: Design the relative trajectory loop control law ...
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