Automatic Landing Control Law for Unmanned Helicopter using Lyapunov Approach

A globally stable tracking control law for automatic landing of unmanned helicopter is developed and validated using flight tests. To achieve both agile maneuver and precise landing, the near-minimum-time maneuver of a rigid body is used as reference trajectories. This approach enables a control law avoid large initial torque command. It also is shown that the control law is guaranteed to be globally stable in the sense of Lyapunov. Finally, flight test results utilizing the method are presented