现代电子技术2013，Vol.36Issue(1)：5-8,4.
无人直升机自主着舰的航线生成与跟踪控制
Route generation and tracking control for autonomous unmanned helicopter ship board landing
摘要
Abstract
To enable an unmanned helicopter to autonomously land on a ship, a method for generating route autonomously is designed according to the position information of unmanned helicopter and ship. And then the generated reference route is dis-cretized to be waypoints, each of which contains the required speed and position information of the unmanned helicopter. With the adoption of line-of-sight guidance, the unmanned helicopter guidance law is designed. The trajectory and speed tracking con-trol of unmanned helicopter is realized through the combination of the explicit model-following and PID in the inner loop. Numer-ical simulations show that the system has good performance.关键词
无人直升机/轨迹生成/跟踪控制/自主着舰/视线引导Key words
unmanned helicopter/route generation/tracking control/autonomous landing on ship/line-of-sight guidance分类
信息技术与安全科学引用本文复制引用
戴文正,袁锁中,周鑫..无人直升机自主着舰的航线生成与跟踪控制[J].现代电子技术,2013,36(1):5-8,4.基金项目
中央高校基本科研业务费专项资金资助(NZ2012004) （NZ2012004）
