Cooperative Prescribed Performance Control for the MAV-MSV System With Considering the Dynamic Landing Manoeuvring

Cooperative systems involving an unmanned aerial vehicle and an unmanned surface vehicle (UAV-USV) are pivotal components of modern autonomous vehicle networks. This paper develops a novel dynamic landing control framework for the UAVUSV to carry out high-precision path-following mission. The main features of the developed scheme are threefolds: (a) The logic virtual aircraft and the logic virtual ship (LVA-LVS) guidance principle is constructed to generate reference route and signals for the UAV-USV system. A triggered rule is designed based on the distance boundary to reduce the continuous update for the attitude signals to the controller. (b) The prescribed performance control (PPC) method is introduced to ensure the convergence of position errors to the prescribed region even the initial condition is inconsistent. The output errors of the UAV will be transformed by using the transformation function to be stabilized. Moreover, the L-function is used to approximate the external disturbances and the nonlinearity terms. (c) Semi-Globally Uniformly Ultimate Boundness (SGUUB) stabilities of the closed-loop control system are guaranteed via the Lyapunov theory. Finally, the advantages and validity of the proposed algorithm are evaluated through the simulation experiments.