Autonomous Vertical Landing Guidance with Specified Path Angle Considering Field-of-view Constraints with Time-varying Asymmetric Barrier Lyapunov Function for Unmanned Aerial Vehicles

Guidance laws, including proportional navigation, have been studied in various fields. However, there are no examples of applying an impact angle control guidance (IACG) law to vertical landing for an unmanned aerial vehicle (UAV) considering the field-of-view (FOV) limitation of the rigid body model. In this study, an IACG law based on proportional navigation is applied to the rigid body problem for a small multicopter-type UAV, and landing simulations using a time-varying asymmetric barrier Lyapunov function are performed while constraining the pitch angle which limitation comes from the orientation of the UAV's sensor.