Design and optimize an aerial precision docking system for UAVs based on magnetic vector fields

This paper designs and optimizes an unmanned aerial vehicle (UAV) precision docking system based on the magnetic vector field, utilizing electromagnetic forces for contactless precision docking. This includes the specialized design of the UAV, development of an electromagnetic-permanent magnetic system, and a magnetic vector field test bench, integrating the measured magnetic field data into the UAV control in a data-driven manner. To ensure efficient and stable docking, a quadratic programming (QP) optimization is established in the control allocation layer to redistribute throttle among the four motors. Thus, the system not only achieves stable, high-precision docking in harsh environments with minimal sensors but is also easy to deploy and adjust. Finally, the system’s accuracy, robustness, and efficiency are validated through simulation.