Tracking deviation correction control for landing taxiing of amphibious unmanned aerial vehicles

Abstract

Air cushion landing system (ACLS) can help airplane realize amphibious take-off and landing. Even so, vehicle with the ACLS is more susceptible to uncertainties such as crosswind, unmolded dynamics and high nonlinearities than other take-off/landing methods, resulting in difficulty escalation for the tracking deviation correction (TDC) control. In this paper, to deal with the TDC problem for the airplane, a disturbance attenuation predictive control scheme is proposed. To enhance system robustness, a disturbance observer (DO) is designed to attenuate uncertainties through an online feedback compensation way. To degrade the influences such as input surging/saturation and large overshoot induced by sudden occurrence of uncertainties, a type of predictive controller considering tracking error and input power is developed. Contrast simulations are conducted to show the superiorities of the proposed control scheme.