无人飞行器在不确定扰动下的动态目标跟踪  

Dynamic Target Tracking of Unmanned Aerial Vehicles Under Unpredictable Disturbances

作　　者：Yanjie Chen Yangning Wu Limin Lan Hang Zhong Zhiqiang Miao Hui Zhang Yaonan Wang 

机构地区：[1]School of Mechanical Engineering and Automation,Fuzhou University,Fuzhou 350108,China [2]Department of Computer Science,Aberystwyth University,Aberystwyth SY233DB,UK [3]School of Robotics,Hunan University,Changsha 410082,China [4]College of Electrical and Information Engineering,Hunan University,Changsha 410082,China [5]National Engineering Research Center of Robot Visual Perception and Control Technology,Hunan University,Changsha 410082,China

出　　处：《Engineering》2024年第4期74-85,共12页工程（英文）

基　　金：supported in part by the National Key Research and Development Program of China(2021ZD0114503,2022YFB4701800,and 2021YFB1714700);the National Natural Science Foundation of China(62273098,62027810,61971071,62133005,62273138,and 62103140);the Major Research Plan of the National Natural Science Foundation of China(92148204);the Newton International Fellowships 2022 funded by the Royal Society,UK(NIF\R1\221089);Hunan Leading Talent of Technological Innovation(2022RC3063);Hunan Science Fund for Distinguished Young Scholars(2021JJ10025);the Hunan Key Research and Development Program(2021GK4011 and 2022GK2011);the Changsha Science and Technology Major Project(kh2003026);the Natural Science Foundation of Hunan Province(2021JJ20029 and 2021JJ40124);the Science and Technology Innovation Program of Hunan Province(2021RC3060);the Joint Open Foundation of the State Key Laboratory of Robotics(2021-KF-22-17);the China University Industry-University-Research Innovation Fund(2020HYA06006).

摘　　要：This study proposes an image-based visual servoing(IBVS)method based on a velocity observer for an unmanned aerial vehicle(UAV)for tracking a dynamic target in Global Positioning System(GPS)-denied environments.The proposed method derives the simplified and decoupled image dynamics of underactuated UAVs using a constructed virtual camera and then considers the uncertainties caused by the unpredictable rotations and velocities of the dynamic target.A novel image depth model that extends the IBVS method to track a rotating target with arbitrary orientations is proposed.The depth model ensures image feature accuracy and image trajectory smoothness in rotating target tracking.The relative velocities of the UAV and the dynamic target are estimated using the proposed velocity observer.Thanks to the velocity observer,translational velocity measurements are not required,and the control chatter caused by noise-containing measurements is mitigated.An integral-based filter is proposed to compensate for unpredictable environmental disturbances in order to improve the antidisturbance ability.The stability of the velocity observer and IBVS controller is analyzed using the Lyapunov method.Comparative simulations and multistage experiments are conducted to illustrate the tracking stability,anti-disturbance ability,and tracking robustness of the proposed method with a dynamic rotating target.

关 键 词：Unmanned aerial vehicle Visual servoing Velocity observer Target tracking 

分 类 号：V279[航空宇航科学与技术—飞行器设计]