Design of landing trajectory tracking robust controller for carrier-based unmanned aerial vehicle
ZHANG Yang
WU Wen-hai
HU Yun-an
CHENG Chun-hua
Abstract：The carrier-based unmanned aerial vehicle(UAV)should be required to track the trajectory accurately and ensured to have the transient performance during landing.And in this paper a constrained command prescribed control law based on a new equivalent error model is designed.Firstly,a constrained command filter method is introduced to consider the actual engineering problems such as rudder limited and angular rate limited. Secondly, the continuous hyperbolic tangent function is used to approximate the saturation function, and an adaptive law is used to estimate the unknown parameters with the modeling errors and a variety of environmental disturbance factors.Finally,the transient performance during landing is emphatically analyzed by introducing prescribed performance method. The strong robustness and better transient performance in complex environment is demonstrated by theoretical analysis and simulation.
Keywords：carrier-based unmanned aerial vehicleslongitudinal controltrajectory trackingconstrained commandprescribed performance
Publication Date：2018-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：9( 557-565 )