The relative motion control for the unmanned quadrotors autonomous shipboard landings is investigated in this study. The shipboard landing missions are divided into two phases including the position approaching phase and the vertical landing phase. Relative pose kinematics and dynamics are modeled in the quadrotor’s body-fixed frame, where the kinematic couplings resulted from the difference between ship’s centre of mass and desired landing site and the unknown external disturbances of two vehicles are considered in the modeling and control design. In the position approaching phase, because of the under-actuated property of quadrotors, the adaptive backstepping technique is combined with an auxiliary system and a command filter to develop the guidance and control laws. Subsequently, the relative altitude-attitude controller is designed for the vertical landing phase. Stability analysis shows that the position approaching errors in the first phase and the landing errors in the second phase ultimately converge to small neighborhoods of zero, and numerical simulation validates the effectiveness of the proposed strategy.

在这项研究中研究了无人四旋翼自主舰载着陆的相对运动控制。舰载着陆任务分为两个阶段，包括位置接近阶段和垂直着陆阶段。相对姿态运动学和动力学是在四旋翼机体固定框架中进行建模的，其中，船舶的质心与所需着陆点之间的差异导致了运动学耦合，并且在建模和控制设计中考虑了两辆车的未知外部干扰。在位置逼近阶段，由于四旋翼的欠驱动特性，自适应反推技术与辅助系统和命令滤波器相结合，以形成制导和控制律。后来，相对高度-高度控制器设计用于垂直着陆阶段。稳定性分析表明，第一阶段的位置逼近误差和第二阶段的着陆误差最终收敛于零的小邻域，数值模拟验证了所提策略的有效性。