Automatic Landing Control of Unmanned Helicopter on Ship Deck with Heave Motion Using Robust Output Regulation

Landing an unmanned helicopter on a ship smoothly is a great challenge using an appropriate strategy under the heave motion of the deck. In this paper, an output regulator based on robust compensation method is designed to control the heave motion of an unmanned helicopter. The control objective is to achieve real-time tracking of a vertical trajectory to the ship deck under the external disturbances. Besides, the proposed method can also compensate the model uncertainties. Finally, experiments are performed to demonstrate and highlight the efficiency of this method.