Event-Based Guidance and Incremental Control with Application to Fixed-wing Unmanned Aerial Vehicle Perched Landing Maneuvers

Abstract

Considering the nonlinearity and unknown dynamics of fixed-wing unmanned aerial vehicles in perched landing maneuvers, an event-based online guidance and incremental control scheme is proposed. The guidance trajectory for perched landing must be dynamically feasible therefore an event-based trapezoidal collocation point optimization method is proposed. Introduction of the triggering mechanism for the rational use of computing resources to improve PL accuracy. Furthermore, a filter-based incremental nonlinear dynamic inverse (F-INDI) control with state transformation is proposed to achieve robust trajectory tracking under high angle of attack (AOA). The F-INDI uses low-pass filters to obtain incremental dynamics of the system, which simplifies the design process. The state transformation strategy is to convert the flight-path angle, AOA and velocity into two composite dynamics, which avoids the sign reversal problem of control gain under high AOA. The stability analysis shows that the original states can be controlled only by controlling the composite state. Simulation results show that the proposed scheme achieves high perched landing accuracy and a reliable trajectory tracking control.