Abstract
Due to the complexity of landing environments, precision guidance and high-precision control technology have become key to the rope-hook recovery of shipborne unmanned aerial vehicles (UAVs). The recovery process was divided into three stages and a reasonable guidance strategy had been designed for them, respectively. This study separated the guidance and control issues into an outer guidance loop and an inner control loop. The inner loop (attitude control loop) controled the UAV to follow the acceleration commands generated by the outer loop (trajectory tracking loop). The inner loop of the longitudinal controller and the lateral controller were designed based on active disturbance rejection control (ADRC), which has strong anti-interference ability. In the last phase, the outer loop of the longitudinal controller switched from a total energy control system (TECS), which greatly decoupled the altitude channel and speed channel, to the proportional navigation (PN) guidance law, while the outer loop of lateral controller switches from the proportional control law based on the L1 guidance law, which can reduce the tracking error and deviation, to the PN guidance law, which considerably enhances the tracking precision. Finally, the simulation data and flight test data show that the controller has strong robustness and good tracking precision, which ensures safe rope-hook recovery.
Highlights
Small shipborne fixed-wing unmanned aerial vehicles (UAVs) can be recovered in a variety of ways, and the reliability, flexibility and accuracy of these methods have become important indicators for evaluating the performance of UAVs [1,2,3,4]
Longitudinal and lateral trajectory tracking control laws for the first two stages were designed based on the total energy control system (TECS) and L1 guidance
In 2013, Lambregts improved the traditional TECS by changing the control output of the energy distribution loop from the elevator to the pitch angle to increase damping against pitch oscillations generated by the TECS system, which was applied in the commercial open source flight control PX4 [28,29]
Summary
Small shipborne fixed-wing unmanned aerial vehicles (UAVs) can be recovered in a variety of ways, and the reliability, flexibility and accuracy of these methods have become important indicators for evaluating the performance of UAVs [1,2,3,4]. [15,16,17] designed pseudo pursuit guidance law, angle of sight proportional guidance law and open-loop proportional navigation law to guide the UAV to the recovery net respectively, showing excellent engineering application feasibility. Sashank presented an approach angle constrained guidance law based on sliding mode control (SMC) for autonomous landing [21]. Longitudinal and lateral trajectory tracking control laws for the first two stages were designed based on the TECS and L1 guidance. The trajectory error was converted into the inner loop attitude control instruction using the proportional guidance control law used in missile pursuit
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