Fast-terminal Super-twisting Control for Quadrotor UAVs Landing on Moving Ship

Abstract

This paper introduces a fast-terminal super-twisting control (FTSTC) strategy to address the landing problem of quadrotor UAVs on moving ships. The shipboard landing problem is divided into two stages: the relative position control and relative altitude control. During the relative position control stage, the FTSTC is designed to manage the quadrotor's under-actuated properties. Following this, a relative altitude-attitude controller is developed. Stability analysis demonstrates that the position tracking errors in the first stage and the relative attitude errors in the second stage converge to neighborhoods of zero within finite time. Numerical simulation validates the effectiveness of the proposed strategy. © 2024 IEEE.