Autonomous Taxiing-in Control Law of Large Dual-body UAVs

This paper presented a design approach of autonomous taxiing-in control law for large dual-body (twin fuse-lages) UAV with two main landing gears and two nose landing gears. The four landing gears are rectangular distribution, the nose landing gears are both equipped with independent nose wheel steering (NWS) mechanisms, and the main landing gears are equipped with differential brakes. This paper described the design process of the entire autonomous taxiing-in control law, including system configuration and control objective, strategy of NWS, control law design, and simulation verification. The control law can not only realize the autonomous taxiing-in, but also can realize the takeoff taxiing and landing taxiing. Finally, the correctness and effectiveness of the autonomous taxiing-in control law is verified by taxiing-in simulation. The method proposed in this paper has certain engineering significance for improving the autonomous capability of land-based or carrier-based UAVs and the utilization of airport runway or deck.