Journal Papers

Aircraft landing using dynamic two-dimensional image-based guidance control

Abstract
This paper proposes a two-dimensional (2-D) image-based controller to automatically steer a fixed-wing unmanned aerial vehicle (UAV) during the first three stages of landing: alignment, glide-slope, and flare. Observable image features of the runway and its textured ground are exploited to derive a feedback controller for the automatic maneuver. The proposed controller ensures the horizontal position alignment and a smooth touchdown of the aircraft without estimating the height above the runway. In addition, the 2-D image-based control structure adopted also enforces wind disturbance rejection, without the need for an explicit wind estimator. Simulation results are presented to illustrate the performance of the controller.

Dynamical Systems and Ocean Robotics Lab (DSOR)

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