Robust output regulation for autonomous vertical landing

We consider the design of an autopilot for the autonomous landing of a VTOL air vehicle on a ship, whose deck oscillates in the vertical direction due to high sea states. The deck motion is modeled as the superposition of a fixed number of sinusoidal functions of time of unknown amplitude and phase. We design an internal-model based error-feedback dynamic regulator that is robust with respect to uncertainties on the mechanical parameters that characterize the model and secures global convergence