Optimal Landing of Unmanned Aerial Vehicle Using Vectorised High Order Expansions Method

In this research, an innovative approach has been proposed to the calculation of high order sensitivities and designing its guidance commands for an unmanned aerial vehicle landing strategy design. This method, which is called vectorised high order method, has been developed based on high order expansions method and its implementation using matrix-based mathematical calculations. In this research, a method is presented to design and extract the acceleration commands for landing maneuvers, by combining the vectorised high order expansions method and optimal control theory. Accordingly, the sensitivity variables for the given problem are calculated up to the 6th term and then the reference trajectory and acceleration command in the simulations are updated based on the initial deviations. In order to performance evaluation of the proposed method, 3 landing scenarios with the different initial deviations have been considered and the results of simulation of the proposed guidance law have been presented.