A Robust Control Strategy for Landing an Unmanned Aerial Vehicle on a Vertically Moving Platform

Figure 2

The closed-loop response of the VTOL-UAV perturbed by a crosswind when tracking a trajectory to land over a moving platform, with a programmed time of 30 seconds: (a) VTOL-UAV landing task; (b) comparison between actual and desired positions; (c) comparison between actual and desired velocities; (d) control action.

(a)

(b)

(c)

(d)