Research on Autonomous Wave Tracking and Water Landing Control of Water UAV Based on Adaptive Dynamic Inverse

This paper presents the design of a dynamic glide trajectory for the autonomous landing of a fixed-wing water UAV in the presence of water surface waves. Additionally, control modes for pitch angle rate and speed in longitudinal motion are proposed using the adaptive dynamic inverse method. The longitudinal motion controller for the water UAV employs adaptive dynamic inverse control. Specifically, the pitch angle rate is considered as the innermost loop, the dynamic inverse control of the pitch angle loop is applied as the middle loop, and the pitch angle feedback serves as the outer loop. The MRAC (Model Reference Adaptive Control) method based on dynamic inverse is utilized to design the control law for the pitch angle rate and speed control loop. Nonlinear simulations are conducted to validate the effectiveness of the proposed control law. The simulation results demonstrate that the designed longitudinal channel controller can accurately track the desired dynamic water landing trajectory, ensuring that the water UAV meets the safety requirements for water landing. The findings of this study hold significant engineering application value.