The 10th International Conference on Energy, Resources, Environment and Sustainable Development (ERESD 2024)

With the rapid development of technology such as computers and artificial intelligence, the technology of unmanned aerial vehicles (UAVs) in marine operations has become a current research hotspot. In recent years, rotary-wing UAVs have been widely used in many fields, such as ocean dynamic monitoring, marine disaster rescue, and maritime military confrontation, due to their low takeoff and landing requirements and hovering capabilities. However, under the effect of waves, marine platforms such as ships are constantly in a rocking state, which greatly increases the difficulty of UAV landing. 
In response to the application requirements of rotary-wing UAVs in sea platform takeoff and landing and aerial operations, a design and optimization scheme for a dual-mode aerial variable structure robot based on the generalized parallel mechanism is proposed. Two general performance indexes, terrain adaptability and landing stability, are proposed to evaluate the landing performance of adaptive landing gear.
A general method for constructing a virtual parallel model has been proposed to describe the dynamic landing process of multi-legged landing gear on offshore platforms, and an adaptive buffering landing control algorithm is designed. To achieve better buffering effects, a search method for the non-rebound damping parameter is developed to determine the damping parameter of the system based on the landing gear state at the moment of landing. An adaptive buffering landing control system is established based on the optimized four-degree-of-freedom variable structure robot, and prototype experiments are conducted to verify the effectiveness of the control strategy and the advantages of the non-rebound damping parameter.