A Research on Control System of Multi-rotor UAV Self-precision Landing

In view of the problem of positional oscillation and speed overshoot in the position control mode of multi-rotor UAV landing, the speed control method is adopted to land and a complete closed-loop speed control system constructed for precise landing. Firstly, the overall framework of UAV precise landing speed control system is established; secondly, the coordinate system of UAV landing and the transformation between coordinate systems are constructed; then, the outer-loop speed PID(Proportion-Integral-Derivative) control system and the fuzzy adaptive speed PID control system are designed; and finally, the performance tests and comparative experiments of the two control systems are carried out. The results show that the UAV can successfully land on the ground target under these two control systems, and the fuzzy adaptive speed PID control system has a higher landing accuracy, which is less than 0.13 meters. It can be seen that the multi-rotor UAV has realized the autonomous precise landing by adopting the fuzzy adaptive speed PID control system.