This paper addresses the problem of autonomous landing of a quadrotor unmanned aerial vehicle (UAV) on a moving ground vehicle subjected to unknown vertical oscillations generated by road irregularities. The proposed approach considers simultaneous longitudinal, lateral, heading, and altitude regulation in the presence of nonlinear coupled dynamics, aerodynamic effects, and platform motion disturbances. A nonlinear control architecture is developed by combining backstepping techniques, super-twisting sliding-mode control, and an adaptive internal model regulator. The longitudinal, lateral, and heading subsystems are stabilized through a block backstepping–sliding-mode framework, whereas the altitude subsystem is regulated using an adaptive internal model controller capable of compensating unknown multi-frequency oscillatory disturbances without prior knowledge of their amplitudes or frequencies. The complete UAV dynamics are derived from the Newton–Euler formulation, including aerodynamic forces, gyroscopic effects, and coupled translational–rotational dynamics. To improve robustness and avoid algebraic differentiation, exact first-order differentiators based on the super-twisting algorithm are incorporated into the control implementation. The proposed adaptive regulator is compared against a robust super-twisting sliding-mode altitude controller under low- and high-frequency oscillatory platform motions. Simulation results demonstrate that the adaptive internal model regulator achieves accurate trajectory tracking and consistently lower accumulated tracking errors than the robust super-twisting sliding-mode controller under both low- and high-frequency platform oscillations. These results highlight the suitability of adaptive output regulation techniques for autonomous UAV landing operations under oscillatory platform conditions with measurement noise.
Lúa et al. (Fri,) studied this question.