Synthesis of Optimal Fixed-Wing UAV Landing Control Under Changing Terminal Conditions

The paper deals with the process of landing control of an unmanned aerial vehicle (UAV). Currently, these vehicles are actively used in various fields. At the same time, the possibilities of their application are constantly expanding every year. Landing is a key stage for the successful fulfillment of a given mission. Therefore, it is important to develop control algorithms that can reliably solve the landing task in real time under changing terminal conditions. The task of landing the aircraft is divided into the prelanding maneuver in the horizontal plane and landing in the vertical plane. UAV landing in three-dimensional space is also considered. The mathematical model represented as a system of differential equations describing the dynamics of the aircraft motion as a rigid body is considered. To verify the developed algorithms, a prototype UAV is selected. The vector of overloads is chosen as the control. Due to the difficulties of solving two-point boundary value problems arising from the maximum principle, the algorithm of correction of control structure parameters is applied. The results of the numerical simulation are presented. The problem of accurate fulfillment of terminal conditions in the presence of measurement noise and external disturbing influences is solved. The successful operation of the algorithm is shown when changing terminal conditions in flight mode. Based on the simulation results, the algorithm for correcting the parameters of the control structure showed greater stability in terms of convergence under a wide range of terminal conditions, which allows it to be applied in real time.