Rope-Hook Recovery Controller Designed for a Flying-Wing UAV

Due to the complexity of landing environments, precision guidance and high-precision control technology have become key rope-hook recovery shipborne unmanned aerial vehicles (UAVs). The process was divided into three stages a reasonable strategy had been designed for them, respectively. This study separated issues an outer loop inner loop. (attitude loop) controled UAV follow acceleration commands generated by (trajectory tracking loop). longitudinal controller lateral were based on active disturbance rejection (ADRC), which has strong anti-interference ability. In last phase, switched from total energy system (TECS), greatly decoupled altitude channel speed channel, proportional navigation (PN) law, while switches law L1 can reduce error deviation, PN considerably enhances precision. Finally, simulation data flight test show that robustness good precision, ensures safe recovery.