在无人装备领域，异构跨域协同作为一种解决现有瓶颈问题的有效策略，通过整合不同平台的功能冗余性和能力互补性，实现了各要素单元的高效一体化运用，推动了无人系统应用新模态的发展。然而，传统的绳钩回收系统因其高刚度特性，在回收过程中飞机钩上阻拦索时会产生较大的瞬时冲击力，导致无人机降落姿态不理想，无法保证平稳落到期望位置。此外，该系统缺乏灵活性，在实现高度跟随时响应不如机械臂迅速。为此，引入了导纳方法实现机械臂的柔顺控制，旨在提高无人机回收的平稳性，并防止因关节所受横向力过大导致的结构损坏，确保机械臂结构的稳定性。同时，结合短时傅里叶变换-快速傅里叶变换（short-time Fourier transform-fast Fourier transform, STFT-FFT）预测算法与自抗扰控制方法，优化了横滚补偿过程，实现了更加平滑稳定的补偿响应。通过仿真测试平台的验证，证实了绳钩回收系统的导纳控制策略及补偿响应优化算法的有效性。

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.