低降下物体の空中回収を目的とした固定翼UAVの飛行軌道設計および衝撃応答制御

抄録

Low-speed-descent objects such as an object descending with a parachute are widely used in the aerospace field. They are used for ensuring safety or making the success of their missions but have some disadvantages. Mid-air retrieval of the low-speed-descent objects by aircraft is discussed to resolve their problems in this report. This paper describes fixed-wing UAVs' control theories of terminal approaching and shock response control after retrieval. Updating final state control and model predictive control are used as the control method of the approach. Frequency-shaped LQR is applied to the flight control after mid-air retrieval. The fundamental method for achieving the mid-air retrieval is constructed with these methods and its effectiveness is verified by simulations.