Design of a Cooperative Guidance Law to Realize Landing of a Fixed-wing UAV on a UGV

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In this paper, a guidance law for a fixed-wing unmanned aerial vehicle (UAV) to land on an unmanned ground vehicle (UGV) is developed. Nonholonomic kinematic guidance models of the UAV and the UGV are regarded as the state equation. The proposed guidance law consists of three parts: longitudinal and lateral guidance laws for the UAV and a guidance law for the UGV. They are derived based on backstepping and input-output linearization. Then, the stability of the closed-loop system is discussed based on the Lyapunov stability theorem. A numerical simulation confirms that the proposed guidance law successfully realizes the landing.

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