Pursuit Guidance Law and Adaptive Backstepping Controller Design for Vision-Based Net-Recovery UAV

Abstract

This paper presents a guidance law and a nonlinear controller for a vision-based netrecovery UAV. A vision sensor enhances the performance of precise interception with an accurate impact angle, which can be applied for the net-recovery UAV system. A pursuit guidance law and an adaptive backstepping controller are adopted for the vision-based netrecovery instead of tracking the pre-designed glide slope. The landing performance of a pure pursuit guidance, a lead pursuit guidance, and a pseudo pursuit guidance is compared. Dynamic characteristics of aircraft states and control surface actuators are considered in the design of the constrained adaptive backstepping controller. Six degree-of-freedom nonlinear aircraft landing simulation was performed to verify the performance of the proposed guidance law and controller.