井冈山大学学报（自然科学版）2026，Vol.47Issue(5)：89-99,11.DOI:10.3969/j.issn.1674-8085.2026.05.010
基于多模型切换控制的无人机起降控制算法
Unmanned aerial vehicle take-off and landing control algorithm based on multi-model switching control
摘要
Abstract
Aiming at unmanned aerial vehicle(UAV)takeoff and landing control problem,this paper proposes a multi-model switching control algorithm based on multimodal fuzzy decision-making.The algorithm integrates multi-feature confidence to judge the flight state,which effectively avoids the error accumulation issue caused by the traditional time-based switching strategy.UAV systems exhibit high nonlinearity during takeoff and landing phases.Therefore,the UAV landing process is decomposed into multiple stages,with each stage mathematically formulated as a linear model.Subsequently,a dedicated proportional-integral-derivative(PID)cascade controller is designed for each linear model to realize the simultaneous control of UAV position and attitude.The switching control strategy adopts a multimodal fuzzy decision-making method to fuse multiple UAV flight features and identify the current flight state based on feature confidence levels.Simulation experimental results demonstrate that the proposed control strategy can accurately regulate each stage of UAV takeoff and landing,and effectively improve the overall control performance of the UAV takeoff and landing process.关键词
多模型切换控制/无人机起降控制/线性模型/PID串级控制/多模态模糊决策Key words
multi-model control with switching/unmanned aerial vehicle take-off and landing control/linear model/PID cascade control/multi-modal fuzzy decision-making分类
信息技术与安全科学引用本文复制引用
曹磊,王建宏,唐小军..基于多模型切换控制的无人机起降控制算法[J].井冈山大学学报（自然科学版）,2026,47(5):89-99,11.基金项目
江西省自然科学基金重点项目(20232BAB201015) （20232BAB201015）
江西省自然科学基金面上项目(20202BABL202009) （20202BABL202009）
