Automatic Three-Point Landing of a UAV with H ∞-Control in D-Implementation

摘要

A multivariable flight control law for automatic landing of an unmanned aircraft with tailwheel gear configuration is developed in this paper. The control law is obtained usingH∞-synthesis and implemented in a differential form to facilitate bumpless transfer, i.e. correct initialization when switching control laws, and anti-windup compensation. The controller is evaluated using a validated high-fidelity model of the aircraft and Monte-Carlo simulations.