Survey on anti-disturbance control of quadrotor UAVs landing on moving platform

This paper presents a comprehensive survey on anti-disturbance control methods for quadrotor unmanned aerial vehicles landing on moving platforms. First, aerodynamic disturbances are analyzed for quadrotor unmanned aerial vehicles in the landing scenario. It is indicated that aerodynamic disturbances will have stronger intensity and faster dynamics with the rise of platform speeds. These complex disturbances will seriously deteriorate the landing accuracy and even cause quadrotor unmanned aerial vehicles to crash. Second, the hard landing scheme and soft landing scheme as well as their performances are discussed and summarized. The hard landing scheme aims to eliminate aerodynamic disturbances by stopping rotors, while the soft landing scheme aims to suppress the effects of aerodynamic disturbances by using feedback control and feedforward compensation. Comparatively, the soft landing scheme with disturbance feedforward can realize reliable and precise landing on moving platforms. However, further improvements are still required in disturbance estimation accuracy for quadrotor unmanned aerial vehicles landing on fast platforms. Finally, the future directions are discussed in this area.