SYSTEM FOR CONTROLLING ROTARY-WING UNMANNED AIRCRAFT FOR VERTICAL LANDING ON MOVING SURFACES BY FEEDING FORWARD FORCES IN THE CONTROL SYSTEM

摘要

The invention relates to an improvement to the control system for landing a VTOL unmanned aircraft on a moving platform, comprising the addition of: a sensor-based control system, said sensors measuring the tension of the cable that connects the aircraft to the landing platform and the angles of orientation of said cable with respect to a system connected to the aircraft; and a control module that receives as input the tension — both in terms of magnitude and direction — obtained from the sensors, as well as the control settings generated by the aircraft controller. Based on the tension in the cable, the control module of the invention calculates corrections to be incorporated into the control settings, which anticipate the disruptions that will occur to the position of the aircraft as a consequence of the changes in the tension of the cable.