Precise Rendezvous-Control of heterogeneous Aircraft and Ground Vehicle Systems

“异构飞机和地面系统的精确交会”项目解决了无人驾驶飞机在移动地面车辆上的自动着陆问题。为了省去传统的起落架，例如减轻重量，应提供将飞机降落在地面车辆上的能力。这个问题可以被描述为一个同步过程，它将两个系统的单个轨迹合并为一个共同的目标轨迹。一方面，需要解决飞机和地面飞行器的非均质动力学所带来的固有控制问题和飞行力学挑战。另一方面，需要特别解决风或传感器和执行器故障等重大外部影响。为了确保即使在有风的情况下也能实现这种自动着陆，将实现基于风和阵风预测的前馈控制。此外，还将研究如何有效地处理部件故障。这里将利用这样一个事实，即由飞机和地面车辆组成的完整系统在着陆所需的自由度方面是过度确定的。通过重新配置，即使在其中一个执行机构发生故障时，也应保持整个系统的功能。总的来说，这些任务需要在控制工程和飞行力学领域进行重要的研究。

The project 'Precise Rendezvous of Heterogeneous Aircraft and Ground Systems' addresses the automated landing of an unmanned aircraft on a moving ground vehicle. In order to omit a conventional landing gear, e. g. to reduce weight, the capability to land the aircraft on a ground based vehicle shall be provided. This problem can be characterized as a synchronization process that merges the individual trajectories of the two systems into one common target trajectory.On the one hand, the inherent control problems and flight mechanical challenges that arise by the heterogenic dynamics of aircraft and ground vehicle need to be solved. On the other hand, significant external influences like wind or sensor and actuator failures need to be specifically addressed. To ensure the availability of such an automated landing even during windy conditions, a feed forward control based on wind and gust prediction will be realized. Additionally efficient handling of component failures will be investigated. Here the fact will be utilized that the complete system consisting of aircraft and ground vehicle is overdetermined with respect to the degrees-of-freedom required for landing. By means of reconfiguration the functionality of the complete system shall be maintained even during failure of one of the actuators. Overall, these tasks require significant research in the field of control engineering and flight mechanics.