Predefined-Time Direct Lift/Side-Force Control for Carrier Landing

Engineering notes

Key topics: autonomous driving, control. See the paper for implementation details and experimental results.

Chinese explanation / 中文解读

中文解读待补充：本站会优先为端到端自动驾驶、BEV感知、3D目标检测、轨迹预测、路径规划、LiDAR感知等高价值论文补充中文说明。

Original abstract

Carrier-based fixed-wing UAV landing is challenged by deck motion, carrier airwake, gust disturbances, strong trajectory–attitude coupling, and actuator constraints. To address these issues, this paper proposes a Predefined-Time Direct Lift/Side-Force-Integrated Approach Landing (PTDIAL) method. An integrated direct-force architecture is constructed using the trailing-edge flap for direct lift and the spoiler for direct side force, thereby reducing the dependence of trajectory correction on angle-of-attack- and bank-angle/sideslip-mediated regulation. A preview-based reference glide slope is generated from the predicted Ideal Touch Point (ITP) sequence to improve the response to deck motion. Predefined-time control laws are developed for the cascaded position, trajectory, attitude, angular rate, and velocity loops, with prescribed-performance constraints imposed on the attitude response. A predefined-time disturbance observer is introduced to estimate the lumped aerodynamic disturbances, while an auxiliary anti-saturation mechanism compensates for the effect of trailing-edge flap saturation. Lyapunov analysis establishes the practical predefined-time stability of the closed-loop system under bounded disturbances and actuator constraints. Various simulations demonstrate that the proposed architecture improves lateral and vertical tracking while preserving the UAV attitude, and Monte Carlo simulations further confirm the robustness of PTDIAL.

Links and sources

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