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

Zian Wang, Zheng Gong (), Yang Yang, Yongzhen Liu, Pengcheng Cai and Chengxi Zhang
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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

Mathematics, 2022, vol. 11, issue 1, 1-39

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.

Keywords: unmanned helicopter; guidance law; asymmetric tracking differentiator; autonomous landing (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2022
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