A robust landing control algorithm is proposed for a quadcopter, as well as for a landing platform to land on an inclined or problematic surface. To use the quadcopter for outdoor application, it is necessary to design a landing platform that can withstand environmental obstacles such as wind and weight load during landing. Conventional retractor landing platforms are not suitable for achieving a stable landing on inclined surfaces or obstacles. Therefore, in this paper, 2-link structured landing legs are applied to stably land on an inclined surface or obstacle with a suitable control algorithm. To achieve stable landing on a slanted surface, a cooperative control algorithm of the quadcopter and the landing platform has been proposed. The proposed robust landing system comprises two controllers, i.e., a high-speed proportional derivative control for the landing platform and a neural network-based proportional–integral–derivative control for controlling the quadcopter in real time. A quadcopter with a robust landing platform has been implemented, and the performance of the robust landing control algorithm has been demonstrated with the system.

针对四轴飞行器以及着陆平台着陆在倾斜或有问题的表面上，提出了一种鲁棒的着陆控制算法。要将四轴飞行器用于室外应用，必须设计一个能够承受着陆过程中诸如风和重量负荷等环境障碍的着陆平台。传统的牵开器降落平台不适合在倾斜的表面或障碍物上实现稳定的降落。因此，在本文中，采用合适的控制算法，将2连杆结构的着陆腿应用于稳定着陆在倾斜表面或障碍物上。为了实现在倾斜表面上的稳定着陆，提出了四轴飞行器与着陆平台的协同控制算法。拟议的健壮着陆系统包括两个控制器，即 用于着陆平台的高速比例微分控制和用于实时控制四轴飞行器的基于神经网络的比例-积分-微分控制。已经实现了具有稳健着陆平台的四轴飞行器，并且该系统已经演示了稳健着陆控制算法的性能。