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<p>This study focuses on the adaptive fixed-time tracking control problem for unmanned aerial vehicle (UAV) landing onto a moving unmanned surface vehicle (USV) in maritime environment. First, to emphasize the issue that the oscillatory responses of USV caused by sea wind and waves making safe landing of UAV arduous, the Long Short-Term Memory (LSTM) network is introduced to predict the deck motion which can determine a safe time window for landing. Next, this article presents an adaptive fixed-time control design for autonomous shipboard landing (ASL) of a quadrotor onto a swaying and sailing USV. By incorporating fuzzy logic systems (FLSs) into the command-filtered backstepping procedure, novel adaptive fixed-time algorithms for translational and rotational tracking control are developed, where FLSs are used to approximate the unknown dynamic terms (UDT). Stability analysis certifies that the closed-loop system is practically fixed-time stable (PFTS), and the tracking errors converge to a small neighborhood of zero within a fixed-time interval. Finally, comparative simulations are performed to validate the effectiveness and superiority of the theoretical results.</p>

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Adaptive fuzzy fixed-time tracking control for maritime quadrotor UAV landing onto a moving USV with deck motion prediction

  • 期刊论文

  • 发表日期：

    2025年2月21日

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  • Yu Wang,
  • Kang Liu,
  • Peiyin Chen,
  • Huiliao Yang,
  • Di Wang

摘要

This study focuses on the adaptive fixed-time tracking control problem for unmanned aerial vehicle (UAV) landing onto a moving unmanned surface vehicle (USV) in maritime environment. First, to emphasize the issue that the oscillatory responses of USV caused by sea wind and waves making safe landing of UAV arduous, the Long Short-Term Memory (LSTM) network is introduced to predict the deck motion which can determine a safe time window for landing. Next, this article presents an adaptive fixed-time control design for autonomous shipboard landing (ASL) of a quadrotor onto a swaying and sailing USV. By incorporating fuzzy logic systems (FLSs) into the command-filtered backstepping procedure, novel adaptive fixed-time algorithms for translational and rotational tracking control are developed, where FLSs are used to approximate the unknown dynamic terms (UDT). Stability analysis certifies that the closed-loop system is practically fixed-time stable (PFTS), and the tracking errors converge to a small neighborhood of zero within a fixed-time interval. Finally, comparative simulations are performed to validate the effectiveness and superiority of the theoretical results.