Cooperative control strategy for an airplane landing on a mobile target
Résumé
This paper presents a cooperative control strategy for landing a fixed-wing drone on a mobile target vehicle. The control strategy focuses on guiding the drone along a desired trajectory while the target vehicle's speed is controlled so that both reach the desired position simultaneously. The system model is composed by the kinematic model of a fixed-wing drone and a ground vehicle. A state feedback control based on Lie derivatives is determined applying the input-output analysis. The system stability is obtained by using Lyapunov stability theory. The proposed control strategy is evaluated in numerical simulations to validate its performance.
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