Backstepping-based landing control of a RUAV using tether incorporating flapping correction dynamics

This paper presents a novel application of back- stepping controller for landing of a Rotary wing UAV (RUAV) using a tether. This algorithm is an extension of a backstepping algorithm for general rigid bodies. In this paper, we will also present the detailed analysis of flapping correction dynamics by considering the practicality involved in the system. The performance of the proposed algorithm is demonstrated by simulation results. Future work is needed to implement the algorithm onboard RUAV platforms.

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