Landing control of a quadrotor on a moving platform with unknown speed in the field of view

This paper proposes a solution for the landing of quadrotor UAV on moving platform with unknown speed. To ensure landing target within the field of view, a feasible region is first defined with the angle between the centroid of quadrotor and target in an expected range. Then an adaptive controller is designed to complete the landing process constrained in the feasible region for all targets with smaller speed than a control gain. Furthermore, to restrain the disturbance of target speed, the controller is improved to regulate landing process with an induced angle. The robust controller restrains the possible oscillation caused by uncertainty of target speed. Both numerical simulations and real-world experiment validated the proposed solution.