Taking-off And Landing Technology Research For Small Fixed-Wing UAV

Unmanned aerial vehicles(UAVs) have been widely used in both civil and military fields; due to theirs various advantages such as its compact size, low cost and its good adaptability to the environment. Because of the small UAV structure and the imperfect control techniques, more research on autonomous control technology is needed.Using an UAV as laboratory example may be affected by several factors like; installation location error, uneven ground, wind disturbance, initial lateral position error, deflection error, and the effect of non- zero lateral velocity. Due to the previous reasons, a small fixed wing UAV is selected as the research subject. In this paper, we focus on the study of autonomous control techniques of UAV takeoff and landing.In this study, the motion of the UAV is divided into air motion and ground motion, and by the analysis of the force, the UAV’s air model and ground model were developed. Then,the take-off and landing process are subdivided into several systems, and each system has its own control requirements. For this reasons, we put forward the control scheme for each system. In addition to this, we designed a rectification circuit during the flight taxiing, lift front elevation control circuit, height control circuit, speed control circuit, and lateral stability loop. In order to improve the control precision and anti-interference performance of the flight control loop, we introduced the auto disturbance rejection control technique to control the flight system. In order to solve the problem of setting the parameters of auto disturbance rejection, we designed an automatic parameter tuning method based on clonal selection algorithm.