Prescribed performance anti-swing control for wing rotation process of UAV towed aerial recovery

To address the swing suppression control problem for wing rotation process of UAV towed aerial recovery assembly, an anti-swing control method based on appointed-time preset performance control is proposed. Firstly, the characteristics of the aerial recovery assembly are analyzed. A six degree of freedom nonlinear model of the aerial recovery assembly is established using the Newton-Euler method, the additional forces and moments caused by the wing rotation are analyzed, and additional force and additional moment models containing the wing rotation angle are established. Secondly, in response to the strong nonlinear characteristics of aerodynamic force and aerodynamic torque changes during wing rotation, this paper adopts unsteady computational fluid dynamics methods to calculate the aerodynamic force and moments during this process, and establishes aerodynamic force and aerodynamic moments models containing the wing rotation angle. On this basis, the six degrees of freedom nonlinear models are transformed to affine nonlinear form, and a composite anti-swing control method integrating a non-constraining force vector sum direction feedforward compensation controller with an appointed-time prescribed performance control feedback controller is proposed. A simulation is carried out and the results show that, the maximum longitudinal displacement of the proposed method is 0.16 m, and the maximum lateral displacement is 0.18 m, demonstrating significant advantages of the proposed method.