Decoupling ADRC Lateral/Directional Controller of Autonomous Carrier-based UAV Landing

A novel approach is proposed in this paper to control lateral/directional of autonomous carrier-based UAV during landing. The presented method is combined the decoupling technology and ADRC method to design the lateral/directional controller. The proposed method provides robust performance in tracking command with external airwake disturbance during landing. In addition, the decoupling matrix is introduced to deal with the coupling problems between two channels when using the rudder and aileron to control the lateral/directional nonlinear dynamic. Theoretical analysis and simulations are conducted and demonstrated that the proposed controller has a better tracking, robust and anti-interference performance to external airwake disturbance.