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This paper focuses on designing adaptive tracking and landing control methods for a high-dynamic flight vehicle cooperating with a ground vehicle. Considering the different characteristics of different stages during the tracking and landing process, a variable strategy is proposed. Based on that, a variable structure PID and variable parameter linear Active Disturbance Rejection Control (LADRC) is designed. A vision-based scheme using nested ArUco codes is adopted for relative motion measurement. Software in-the-loop (SIL) simulations prove the effectiveness of the proposed algorithm. Theory of degree of controllability (DOC) is introduced to estimate the performances of the controllers from an energy perspective. Through result analysis, the advantages and disadvantages of the designed controllers are discussed.

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Adaptive Control via Variable Strategies for High-Dynamic Flight Vehicles

  • 会议论文

  • 发表日期：

    2025年

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  • Ding Zhong,
  • Haocheng Peng,
  • Kai Shen,
  • Wenjun Guo,
  • Pengxiang Yang

摘要

This paper focuses on designing adaptive tracking and landing control methods for a high-dynamic flight vehicle cooperating with a ground vehicle. Considering the different characteristics of different stages during the tracking and landing process, a variable strategy is proposed. Based on that, a variable structure PID and variable parameter linear Active Disturbance Rejection Control (LADRC) is designed. A vision-based scheme using nested ArUco codes is adopted for relative motion measurement. Software in-the-loop (SIL) simulations prove the effectiveness of the proposed algorithm. Theory of degree of controllability (DOC) is introduced to estimate the performances of the controllers from an energy perspective. Through result analysis, the advantages and disadvantages of the designed controllers are discussed.