Marine waves significantly disturb the unmanned surface vehicle (USV) motion. An unmanned aerial vehicle (UAV) can hardly land on a USV that undergoes irregular motion. An oversized landing platform is usually necessary to guarantee the landing safety, which limits the number of UAVs that can be carried. We propose a landing system assisted by tether and robot manipulation. The system can land multiple UAVs without increasing the USV's size. An MPC controller stabilizes the end-effector and tracks the UAVs, and an adaptive estimator addresses the disturbance caused by the base motion. The working strategy of the system is designed to plan the motion of each device. We have validated the manipulator controller through simulations and well-controlled indoor experiments. During the field tests, the proposed system caught and placed the UAVs when the disturbed USV roll range was approximately 12 degrees.

翻译：无人驾驶飞行器(无人驾驶飞行器)很难在非正常运动的无人驾驶飞行器上着陆。为了保证着陆安全,通常需要一个超大型着陆平台,以限制可运载的无人驾驶飞行器的数量。我们提议了一个由系绳和机器人操作辅助的着陆系统。这个系统可以在不增加无人驾驶地面飞行器的大小的情况下降落多架无人驾驶飞行器。MPC控制器稳定了最终作用器并跟踪无人驾驶飞行器,一个适应性天花板处理基运动造成的干扰。这个系统的工作战略旨在规划每个装置的移动。我们通过模拟和控制良好的室内实验验证了操纵器控制器。在实地试验期间,在受到干扰的USV滚动范围约为12度时,拟议的系统被捕获并放置了无人驾驶飞行器。