Wind-Resistant UAV Landing Control Based on Drift Angle Control Strategy

Addressing lateral-directional control challenges during unmanned aerial vehicle (UAV) landing in complex wind fields, this study proposes a drift angle control strategy that integrates coordinated heading and trajectory regulation. An adaptive radius optimization method for the Dubins approach path is designed using wind speed estimation. By developing a wind-coupled flight dynamics model, we establish a roll angle control loop combining the <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><msub><mi>L</mi><mn>1</mn></msub></mrow></semantics></math></inline-formula> nonlinear guidance law with Linear Active Disturbance Rejection Control (LADRC). Simulation tests against conventional sideslip approach and crab approach, along with flight tests, confirm that the proposed autonomous landing system achieves smoother attitude transitions during landing while meeting all touchdown performance requirements. This solution provides a theoretically rigorous and practically viable approach for safe UAV landings in challenging wind conditions.