Research On Control Technology Of Autonomous Take-Off/landing Of UAV

In the21stcentury, the information control will be a key factor to determine the success during awar. The UAV within reconnaissance, information transmission and firepower is bound to be the mainforce definitely in the future information-based warfare. Studying the taking-off and landingtechnology of UAV has the practical significance and profound tactic value, which can promote thedevelopment of UAV technology and grasp the initiative in future wars. In this paper, the keytechnologies for taking-off and landing phases have been studied, and the new solutions are proposed.First, the development process, application value and development direction of UAV areintroduced; the current research of taking-off/landing control technologies about UAV is analyzed,besides, the method of visual navigation employed in the UAV landing is discussed.Secondly, the non-linear motion models for taking-off and landing phases are established, andthe general mathematical model against low-flow disturbance and collectivity simulate scheme areobtained, via the analysis of the force and torque from both ground and engine of UAV.Then, the key technologies in taking-off/landing phase are discussed particularly. First of all, thenavigation system is designed, which is on basis of computer visual image processing. According tothe digital image processing, the operations such as filtering, segmentation and feature extraction aredone towards the runway image, Hough transformation is applied to achieve the extraction of edgeline; and the identification of runway can attained by supported vector machine technology,theoretically, the algorithm can show a great self-learning ability and provide better recognition results;based on geometric projection theory, the attitude and position information of UAV can be gained byusing the edge line equation of runway. Then, designed automatic landing control law of UAV isdesigned based on dynamic inversion method, in order to restrain the uncertainty; the disturbanceobserver is designed based on fuzzy logic and fuzzy neural network, which can accomplish theautomatic landing control of the UAV by tracking compound disturbance. Thirdly, the union controllaw of main wheel differential braking and rudder deflection is devised to achieve the lateral deviationcorrection control; the vertical taking-off control law of UAV is given based on dynamic inversionmethod, which can achieve the automatic taking-off control under interference environment, when thefuzzy disturbance observer is added into the angle of attack and pitch-rate loop.Finally, the summary about future improvement and exploration of key technologies for UAVtaking-off and landing phases are given, and the possible shortcomings are pointed out.