A Nonlinear Adaptive Control and Robustness Analysis for Autonomous Landing of UAVs

The UAV landing process has higher requirements for automatic flight control systems due to factors such as wind disturbances and strong constraints. Considering the proven effective adaptation of the out-of-loop L1 adaptive control (OLAC) system proposed in previous studies, this paper applies it to landing control to enhance robustness and control accuracy in the presence of complex uncertainties. Based on modern control theory, an LQR-based OLAC algorithm for multi-input–multi-output (MIMO) systems is proposed, which is conducive to the coupling control of the flight attitude mode. To evaluate the robustness of the designed system, an equivalence stability margin analysis method for nonlinear systems is proposed based on parameter linearization. Along with a detailed autonomous landing strategy, including trajectory planning, control, and guidance, the effectiveness of the proposed methods is verified on a high-fidelity simulation platform. The Monte–Carlo simulation is implemented in the time domain, and the results demonstrate that OLAC exhibits strong robustness and ensures the state variables strictly meet the flight safety constraints.