Nonlinear optimal control of rope hook recovery process

Fixed-wing UAV recovery technology is a key factor in determining the performance of fixed-wing UAVs, and as a new type of recovery method, rope hook recovery has the advantages of simple form and high recovery efficiency, but also has the defects of high overload and uncontrollable recovery process. In order to compensate for this defect, control is introduced into the rope hook recovery system. Firstly, a fixed-damped and variable-damped UAV hook recovery dynamics model is established, and the input and output of the UAV hook recovery process are decoupled and decomposed into two SISO systems. After that, a linear quadratic controller is used to track the velocity and displacement in all directions and feedback is well realized to approximate the planning results . The results show that the variable damping recovery system has the advantages of rapid recovery and smooth overloading over the fixed damping recovery system.