Synthesis and Testing of an Algorithm for Autonomous Landing of a UAV under Turbulence, Wind Disturbance and Sensor Noise

Abstract

Unmanned aerial vehicles (UAVs) are a new, adaptable technology that has found its way into both military and civilian applications. Preserving the integrity of the UAV and its security during flight and, in particular, during the landing stage is essential for the performance of the assigned mission of the aircraft. This research examines a developed aircraft scheme. It was tested for static and dynamic stability in an XFLR5 virtual aerodynamic environment. The obtained results were transferred to MATLAB-Simulink, where the flight control algorithm was synthesized, the landing mode was set using an engineering flight plan, and an autonomous landing was simulated in the presence of wind disturbances with turbulence and noisy operation of the information measurement complex of the UAV. The algorithm for controlling the landing during the execution of the set flight trajectory, which contains a Kalman estimator and an optimal LQR controller combined in a general LQG control algorithm, is studied.

Keywords

• UAV
• LQR controller
• LQG algorithm
• atmospheric and wind turbulence
• sensor noise
• engineering flight plan