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9
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vol 63 / September, 2020
Article

DOI 10.17586/0021-3454-2020-63-9-803-812

UDC 62–50

CONTROL BY THE MANEUVER OF AN UNMANNED AERIAL VEHICLE WHEN LANDING ON A MOBILE PLATFORM USING THE METHOD OF "FLEXIBLE" KINEMATIC TRAJECTORIES

A. A. Sergeev
Lomonosov Moscow State University, Department of Physical and Mathematical Methods of Control; V. A. Trapeznikov Institute of Control Sciences of the RAS;


N. B. Filimonov
Lomonosov Moscow State University, Department of Physical and Mathematical Methods of Control; V. A. Trapeznikov Institute of Control Sciences of the RAS;


Abstract. The task of synthesis of an algorithm for control of terminal maneuver of aircraft–type UAV landing on a mobile platform is formulated and accomplished by the method of reverse dynamics problems using the principles of flexible kinematic trajectories and pointing to the landing point. Results of the synthesized control algorithm for the landing maneuver of the UAV Aerosonde testing in the MATLAB environment for various wind disturbances are presented.
Keywords: UAV landing maneuver, mobile landing platform, method of inverse dynamics problems, principle of flexible kinematic trajectories, principle of pointing to the landing point

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