无人机/船协同降落的鲁棒自适应模糊控制

doi:10.12305/j.issn.1001-506X.2026.06.28

Abstract

Abstract:

Aiming at the landing accuracy problem in the unmanned aerial vehicle/unmanned surface vessel sea-air cooperative landing mission and the impact of ship roll on landing, a robust adaptive fuzzy control algorithm for cooperative landing of unmanned aerial vehicle/unmanned surface vessel based on virtual guidance. Firstly, a logical virtual aircraft/ship guidance method, using L₁ virtual ship-L₂ virtual aerial vehicle is designed to generate guidance paths that meet the landing requirements. Secondly, a four-degree-of-freedom model with ship roll is established, and the unknown model parameter nonlinear terms are approximated and simplified online based on fuzzy logic system and dynamic surface control technology. Finally, Lyapunov stability theory is used to prove that the proposed control algorithm satisfies semi-global uniform and ultimately bounded. The effectiveness of the proposed algorithm is verified by simulation experiments.

Key words: unmanned aerial vehicle/unmanned surface vessel, cooperative landing, dynamic surface control, fuzzy logic system.

CLC Number:

U 664

Guoqing ZHANG, Guipeng YAO, Jiqiang LI. Robust adaptive fuzzy control for cooperative USV-UAV landing[J]. Systems Engineering and Electronics, 2026, 48(6): 2081-2088.

Figures/Tables 7

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Robust adaptive fuzzy control for cooperative USV-UAV landing

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