The landing of a fixed-wing UAV on top of a mobile landing platform requires a cooperative control strategy, which is based on relative motion estimates. These estimates typically suffer from communication or processing time delays, which can render an otherwise stable control system unstable. Such effects must therefore be considered during the design process of the cooperative landing controller. In this letter the application of a model-free passivity-based stabilizing controller is proposed, which is based on the monitoring of energy flows in the system, and actively dissipating any given active energy by means of adaptive damping elements. In doing so, overall system passivity and consequently stability is enforced in a straightforward and easy to implement way. The proposed control system is validated in numerical simulations for round trip delays of up to 4 seconds.

中文翻译：

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通信延迟下固定翼无人机在移动平台上着陆的基于能量的协同控制

固定翼无人机在移动着陆平台顶部着陆需要一种基于相对运动估计的协同控制策略。这些估计通常会受到通信或处理时间延迟的影响，这会使原本稳定的控制系统变得不稳定。因此，在协同着陆控制器的设计过程中必须考虑这种影响。在这封信中，提出了基于无模型被动稳定控制器的应用，该控制器基于系统中能量流的监控，并通过自适应阻尼元件主动耗散任何给定的有功能量。这样做时，整个系统的被动性和稳定性都以一种直接且易于实施的方式实施。