In this paper, the autonomous landing control issue on moving shipboard is investigated for unmanned helicopters subject to disturbances. The issue is studied by stabilizing the error system of the helicopter and the shipboard. The landing process is divided into two phases, i.e., homing phase, where a hierarchical double-loop control scheme is developed such that the helicopter is forced to hover synchronously at a certain altitude over the shipboard, and landing phase, where a composite landing control scheme is proposed such that the helicopter lands vertically on the shipboard in synchronization with its attitudes. The velocity and acceleration information of the shipboard as well as lump disturbances is estimated through joint state and disturbance observers. The estimates are then incorporated into the baseline feedback controller, formulating composite active anti-disturbance landing control schemes. A continuous terminal sliding mode control method is proposed for the feedback controller design, which not only effectively mitigates the chattering of the control action, but also simplifies the design process of the controller. Numerical simulations demonstrate the effectiveness and superiorities of the proposed control schemes.

在本文中，研究了受干扰的无人直升机在移动舰船上的自主着陆控制问题。通过稳定直升机和舰船的错误系统来研究此问题。着陆过程分为两个阶段，即归巢阶段（在此阶段中，开发了分层的双环控制方案，以使直升机被迫在特定高度上同步悬停在船上）和着陆阶段（在此阶段中，进行复合着陆控制）建议的方案是使直升机与其姿态同步地垂直降落在船上。舰船的速度和加速度信息以及整体扰动是通过联合状态和扰动观测器估算的。然后将估算值合并到基准反馈控制器中，制定复合主动防干扰着陆控制方案。提出了一种用于反馈控制器设计的连续终端滑模控制方法，该方法不仅有效地减轻了控制动作的抖动，而且简化了控制器的设计过程。数值模拟证明了所提出的控制方案的有效性和优越性。