Noncertainty-equivalent observer-based noncooperative target tracking control for unmanned aerial vehicles  

作　　者：Kenan YONG Mou CHEN Qingxian WU 

机构地区：[1]College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China

出　　处：《Science China(Information Sciences)》2022年第5期138-152,共15页中国科学（信息科学）（英文版）

基　　金：supported in part by the National Science Fund(Grant No.61825302,62103188);in part by Key R&D Projects(Social Development)in Jiangsu Province of China(Grant No.BE2020704);in part by Jiangsu Province“333”Project(Grant No.BRA2019051)。

摘　　要：Target tracking is a typical and challenging scenario that is required to be executed by unmanned aerial vehicles(UAVs)in operational environments.This work investigates the noncooperative target tracking control problem for UAVs.An integrated model is constructed by combining the dynamics of both the line-of-sight variables and the acceleration components.Particularly,the dynamics of the acceleration components,that contain unmeasurable states,characterize the relative motion between the noncooperative target and the UAV.To estimate these states,a globally convergent observer is developed by utilizing the noncertainty-equivalent(NCE)structure.With the integrated model and the NCE observer,an output-feedback target tracking control scheme is proposed using the dynamic surface control technique and the prescribed performance control method.Based on the Lyapunov approach,the relative spatial positions of the target and the UAV are proved to always stay within a specified operation region and ultimately converge to a small terminal region.Finally,simulation results are presented to illustrate the effectiveness of the proposed target tracking control scheme.

关 键 词：noncooperative target tracking unmanned aerial vehicles noncertainty-equivalent observer prescribed performance control 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术] TP273[自动化与计算机技术—计算机科学与技术] V279[航空宇航科学与技术—飞行器设计]