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

Author

Listed:
  • Zian Wang

    (China Academy of Launch Vehicle Technology, Beijing 100076, China)

  • Zheng Gong

    (Department of Aerospace Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China)

  • Yang Yang

    (China Academy of Launch Vehicle Technology, Beijing 100076, China)

  • Yongzhen Liu

    (AVIC Shenyang Aircraft Design And Research Institute, Shenyang 116024, China)

  • Pengcheng Cai

    (Department of Aerospace Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China)

  • Chengxi Zhang

    (Key Laboratory of Advanced Control for Light Industry Processes, Ministry of Education, School of Internet of Things Engineering, Jiangnan University, Wuxi 214122, China)

Abstract

For some flight missions, such as autonomous landing on mobile platforms, the demands on indicators such as target-tracking accuracy and so on are relatively high. To achieve this, a guidance system with excellent precision is necessary. An asymmetric tracking differentiator based on a tracking differentiator is proposed to establish the guidance system. On the basis of the proposed asymmetric tracking differentiator, an altitudinal and horizontal helicopter guidance system structure is designed. In this paper, a guidance law is designed in order to meet the accuracy and precision requirements in the autonomous landing and transition process. Apart from that, a plane-motion-guidance law is also designed to realize static and dynamic point tracking, linear route tracking and circular route tracking to improve the trajectory smoothness and accuracy. Finally, simulations of the autonomous landing process on moving platforms, including three stages, namely approaching, tracking and landing, are completed. The application effects and precision of the autonomous landing guidance algorithm under different wave heights and period conditions are analyzed through the obtained simulation curves.

Suggested Citation

  • Zian Wang & Zheng Gong & Yang Yang & Yongzhen Liu & Pengcheng Cai & Chengxi Zhang, 2022. "Guidance Law for Autonomous Takeoff and Landing of Unmanned Helicopter on Mobile Platform Based on Asymmetric Tracking Differentiator," Mathematics, MDPI, vol. 11(1), pages 1-39, December.
    • Handle: RePEc:gam:jmathe:v:11:y:2022:i:1:p:66-:d:1014143
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    References listed on IDEAS

    as
    1. Wu, Shuping & Liu, Chuanyu & Chen, Xinping, 2015. "Offshore wave energy resource assessment in the East China Sea," Renewable Energy, Elsevier, vol. 76(C), pages 628-636.
    2. Chen Cheng & Zian Wang & Zheng Gong & Pengcheng Cai & Chengxi Zhang, 2022. "Prediction and Compensation Model of Longitudinal and Lateral Deck Motion for Automatic Landing Guidance System," Mathematics, MDPI, vol. 10(19), pages 1-43, September.
    3. Chen Cheng & Zian Wang & Chengxi Zhang & Yang Yang, 2022. "Attitude Control Method of Unmanned Helicopter Based on Asymmetric Tracking Differentiator and Fal-Extended State Observer," Mathematics, MDPI, vol. 10(19), pages 1-30, September.
    4. Carlos Aguilar-Ibanez & Miguel S. Suarez-Castanon & Octavio Gutierrez-Frias & Jose de Jesus Rubio & Jesus A. Meda-Campana, 2020. "A Robust Control Strategy for Landing an Unmanned Aerial Vehicle on a Vertically Moving Platform," Complexity, Hindawi, vol. 2020, pages 1-13, July.
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