Robustness Improvement of UFSC-Based Flight-Trajectory Generation Under Wind Disturbance

Abstract

This study aims to recover objects descending at low speed in the air using a fixed-wing unmanned aerial vehicle (UAV). To guide the UAV toward descending objects, updating final-state control (UFSC) is applied. However, a previous study has shown that the accuracy of reaching the target states deteriorates owing to wind influence. In this study, a minor control loop is adopted to stabilize the UAV via PD control. Therefore, UFSC is applied to an augmented system comprising the original UAV and minor control loop. The robustness of the method in wind-disturbed environments is evaluated via numerical simulations.