Automatic carrier landing control of carrier-based UAV under actuator failure condition

Abstract

An automatic carrier landing system for carrier-based unmanned aerial vehicle (UAV) is developed in this paper, where external disturbance and actuator failure are considered. The landing area error caused by deck motion is introduced into the reference glide trajectory design to compensate for stochastic and unpredictable wave-induced carrier motion. Moreover, through the passive fault-tolerant control method, a model predictive control structure based on a nonlinear extended state observer with a designed fal function is proposed to address the landing control problem when actuator failure occurs on a carrier-based UAV. Within a fixed time, the observed error converges to the residual. In addition, the control vector reference curve is designed to ensure a fast and smooth control process during the landing process through the model predictive controller. Furthermore, numerical simulations are performed to demonstrate the system's superiority and reliability.