Landing trajectory optimization and simulation for mini-UAV considering constraint of control and landing speed


DOI: 10.34759/trd-2023-130-21

Аuthors

Nguyen N. D.1*, Doan T. T.1**, Nguyen T. T.1***, Tran Q. M.1****, Nguyen Q. A.1*****, Ngo V. T.2******

1. Le Quy Don Technical University, 236, Hoang Quoc Viet, Ha Noi, Viet Nam
2. Air defence-air force Academy, Son Tay, Ha Noi, VietNam

*e-mail: bauman252@lqdtu.edu.vn
**e-mail: tuandoanthe@yahoo.com.vn
***e-mail: tungnt@lqdtu.edu.vn
****e-mail: minhtq@lqdtu.edu.vn
*****e-mail: quanganh.vt85@gmail.com
******e-mail: toantbhk@gmail.com

Abstract

This article presents the method of optimizing the landing trajectory of mini-UAV considering constraint of control and landing speed and the method of tracking the found trajectory. The chosen controls are namely normal and tangential overload. The selected objective function is in the Bolza form, including landing accuracy and energy consumption during flight. Applying the Pontryagin’s maximum principle turns the optimal control problem into the boundary problem, which is solved by the parameter continuation method. To verify the optimal trajectory being gained, the authors selects a specific type of UAV to simulate tracking on the aforementioned trajectory through the Matlab Simulink software. The results show the application of the optimal trajectory tracking controller assures the accuracy and safety of UAV landing.

Keywords:

trajectory optimization, parameter continuation method, normal overload, tangential overload, trajectory tracking controller, Constraint of control

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