When landing on unstructured terrains in the field, UAVs often cannot go-around as they tilt on the ground, and even face the risk of roll-over with the attitude angles increasing. In this paper, a terrain adaptive UAV with adjustable landing legs is designed aiming at the stable landing and going-around requirements of multirotor UAVs under unstructured terrain conditions. a drop dynamic model of UAV is described in detail and drop simulation on flat ground is carried out in MATLAB/Simulink to verify the landing performance of UAV. The VMC method is used to establish the UAV’s landing attitude control loop, which adjusts the landing legs actively through the feedback of attitude angle to suppress the variation of landing attitude caused by the terrains. The results of UAV’s drop simulation under the terrain with height difference show that the attitude angle converges quickly to a range suitable for going-around during the landing process.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Research on Landing Attitude Control of Terrain Adaptive UAVs


    Additional title:

    Springer Aerospace Techn.


    Contributors:
    Liu, Zishun (editor) / Li, Renfu (editor) / He, Xiaodong (editor) / Zhu, Zhenghong (editor) / Ni, Xinlei (author) / Yin, Qiaozhi (author) / Zhong, Peilin (author) / Wei, Xiaohui (author) / Sun, Hao (author)

    Conference:

    International Conference on Advanced Unmanned Aerial Systems ; 2023 ; Harbin, China July 14, 2023 - July 16, 2023



    Publication date :

    2024-02-01


    Size :

    13 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    Optimizing Terrain Mapping and Landing Site Detection for Autonomous UAVs

    Brockers, Roland / Delaune, Jeff / Duarte Lopes Mascarenhas Proenca, Pedro | NTRS | 2022


    Terrain-based landing site selection and path planning for fixed-wing UAVs

    Garg, Mayank / Kumar, Abhishek / Sujit, P.B. | IEEE | 2015


    Nonlinear landing control for quadrotor UAVs

    Voos, Holger | Tema Archive | 2009


    Influence on Vertical Landing Stability of Multirotor UAVs with Adaptive Landing Gears

    Yin, Qiaozhi / Ni, Xinlei / Song, Jiayi et al. | Springer Verlag | 2024


    Fuzzy Adaptive Nonsingular Fixed-Time Attitude Tracking Control of Quadrotor UAVs

    Chen, Qiang / Tao, Meiling / He, Xiongxiong et al. | IEEE | 2021