Nonlinear Controller for a Fixed-Wing Aircraft Landing

This paper presents a control algorithm for the autonomous landing of a fixed-wing aircraft. In the proposed approach, the classical PID control technique is augmented with a state-dependent coefficient (SDC) nonlinear model inversion. The SDC-based nonlinear model inversion eliminates the need for a linearization of the aircraft dynamics. The control law provides accurate autonomous landing in adverse atmospheric conditions such as crosswind and turbulence. The effectiveness is demonstrated for autonomous descent, flare, touch down, as well as crab and de-crab maneuvers for the Cessna 172 aircraft simulation model.