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In the field of unmanned systems, heterogeneous cross-domain collaboration is recognized as an effective solution to current bottlenecks, integrating functional redundancy and complementary capabilities across different platforms. However, traditional rope-hook recovery systems, due to their high stiffness, result in significant instantaneous impact forces during aircraft hooking, which leads to undesired landing attitudes and an inability to land precisely. Furthermore, these systems are less flexible and have slower response times compared to robotic arms in achieving altitude tracking. To address these challenges, admittance control for robotic arm compliance was introduced, with the goal of enhancing landing stability, preventing structural damage caused by excessive lateral forces, and ensuring stability. In addition, the roll compensation process was optimized through a combination of short-time Fourier transform-fast Fourier transform(STFT-FFT) prediction algorithms and active disturbance rejection control, leading to smoother and more stable compensation responses. Simulation tests confirmed the effectiveness of the admittance control strategy and the optimization of the compensation response algorithm, resulting in improvements in both landing stability and system flexibility. This research presents novel methods for unmanned aircraft recovery and offers valuable insights for the development of future unmanned systems.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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