This article presents a novel guidance and control design for a parcel tethered to a drone in its delivery mission. The proposed proportional-navigation-based guidance, integrated with custom-built control, enables to achieve autonomous payload landing. The novelty of the proposed method lies in two aspects: 1) the guidance law allows for soft landing and 2) the path-following control ensures the swing-free payload transportation that sets the solid foundation for landing. The development is verified by extensive simulations and further demonstrated by flight experiments.

中文翻译：

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自主着陆中有效载荷的制导与控制律设计：无人机交付案例研究

本文提出了一种新型的引导和控制设计，用于包裹在无人机运送任务中的无人机。拟议的基于比例导航的指导与定制控制集成，可以实现自主有效载​​荷着陆。该方法的新颖性在于两个方面：1）制导律允许软着陆； 2）路径跟随控制确保了无摆动的有效载荷运输，为着陆奠定了坚实的基础。通过广泛的仿真验证了这一发展，并通过飞行实验进一步证明了这一发展。