Research on Landing Control for UAV Helicopter Based on Two-Stages Guidance Strategy

Soft landing control of unmanned aerial vehicles (UAVs) is a challenging task due to their nonlinear and under-actuated dynamics. However, it is of importance for autonomous flight. A novel terminal discrete control strategy is put forward which include two-stages Guidance Strategy. In the first stage, the terminal constraint is embedded in cost function directly and sweep method is used to find solution. In the second stage, the terminal constraint is embedded in cost function quadratically and transition matrix method is used to find solution. The numerical simulations have been done and the results show the effectiveness of two-stages guidance strategy and it advantage over conventional method with respect to final errors. The added computational cost of two-stage guidance strategy is acceptable