Research on Landing Control for UAV Helicopter Based on Two-Stages Guidance Strategy
- Resource Type
- Conference
- Authors
- Xia, XiaoHu; Qin, Qiang; Xu, Yan
- Source
- 2021 6th International Conference on Automation, Control and Robotics Engineering (CACRE) Automation, Control and Robotics Engineering (CACRE), 2021 6th International Conference on. :108-112 Jul, 2021
- Subject
- Computing and Processing
Robotics and Control Systems
Automation
Computational modeling
Helicopters
Cost function
Numerical simulation
Unmanned aerial vehicles
Computational efficiency
Optimal control
Sweep method
Transition matrix
Terminal constraint
- Language
Soft landing control of unmanned aerial vehicles (UAVs) is a challenging task due to their nonlinear and under-actuated dynamics. However, it is of importance for autonomous flight. A novel terminal discrete control strategy is put forward which include two-stages Guidance Strategy. In the first stage, the terminal constraint is embedded in cost function directly and sweep method is used to find solution. In the second stage, the terminal constraint is embedded in cost function quadratically and transition matrix method is used to find solution. The numerical simulations have been done and the results show the effectiveness of two-stages guidance strategy and it advantage over conventional method with respect to final errors. The added computational cost of two-stage guidance strategy is acceptable