A Guidance and Control Law Design for Precision Automatic Take-off and Landing of Fixed-Wing UAVs

摘要

This paper presents an automatic take-off and landing control system (ATOLS) for fixed-wing UAVs. We propose a guidance and control system to satisfy the requirement for high-precision landing using arresting wires. For trajectory tracking, Line-of-Sight (LOS)-based longitudinal and lateral guidance laws are derived. For the design of inner loop controllers, linear models are identified directly from the flight data. In order to maintain the consistency of the control performance in the presence of flight regime changes during take-off and landing, the linear baseline controller is augmented with a compensator designed using L1 adaptive control theory, which eliminates the need for conventional gain scheduling. The proposed control system is implemented on a scale Cessna UAV with an arresting hook for validation. The proposed take-off and landing system demonstrated a consistent performance in a series of test flight on a full-scale carrier model.