Control of Autonomous Landing of UAV of Airplane-Type on the Static and Dynamic Sites with Using of "Flexible" Kinematic Trajectories

The final and one of the most important stages of the aircraft-type unmanned aerial vehicles (UAV) flight is landing. In this regard the problem of automating the control by UAV landing in difficult meteorological conditions is becoming increasingly urgent. In some cases for refueling and recharging UAVs it is advisable to use the dynamic mobile landing site (MLS) instead of the traditional stationary landing site (SLS). In the present paper we consider the setting of and solution of the control problem by the terminal landing maneuver of a UAV. It provides its transfer from the current initial state to the target final state along " flexible" kinematic trajectories both on the SLS and on the MLS. To solve the problem of automatic landing of UAV on SLS or MLS the mathematical model of the dynamics of its movement was developed. It’s based on the concept of " flexible" kinematic trajectories with spatial synchronization of controlled movements. The control algorithm by the terminal vertical landing maneuver of UAV on SLS by the method of dynamics inverse problem using the principle of " flexible" kinematic trajectories is developed. And also the control algorithm by the terminal landing maneuver of UAV on MLS by the method of dynamics inverse problems using the principles of " flexible" kinematic trajectories and aiming into the target point was also developed. Computer approbation of the synthesized control algorithms for the landing maneuver of UAV "Aerosonde" under conditions of various wind disturbances was carried out using digital modeling in the Matlab environment.