Vision-Based Adaptive Prescribed-Time Control of UAV for Uncooperative Target Tracking with Performance Constraint  

作　　者：SHE Xuehua MA Hui REN Hongru LI Hongyi 

机构地区：[1]School of Automation and the Guangdong Provincial Key Laboratory of Intelligent Decision and Cooperative Control,Guangdong University of Technology,Guangzhou 510006,China [2]School of Mathematics and Statistics,Guangdong University of Technology,Guangzhou 510006,China [3]College of Electronic and Information Engineering and Chongqing Key Laboratory of Generic Technology and System of Service Robots,Southwest University,Chongqing 400715,China

出　　处：《Journal of Systems Science & Complexity》2024年第5期1956-1977,共22页系统科学与复杂性学报（英文版）

基　　金：supported by the National Natural Science Foundation of China under Grant Nos.62033003,62203119,62373113,U23A20341,and U21A20522;the Natural Science Foundation of Guangdong Province under Grant Nos.2023A1515011527 and 2022A1515011506.

摘　　要：This paper discusses the uncooperative target tracking control problem for the unmanned aerial vehicle(UAV)under the performance constraint and scaled relative velocity constraint,in which the states of the uncooperative target can only be estimated through a vision sensor.Considering the limited detection range,a prescribed performance function is designed to ensure the transient and steady-state performances of the tracking system.Meanwhile,the scaled relative velocity constraint in the dynamic phase is taken into account,and a time-varying nonlinear transformation is used to solve the constraint problem,which not only overcomes the feasibility condition but also fails to violate the constraint boundaries.Finally,the practically prescribed-time stability technique is incorporated into the controller design procedure to guarantee that all signals within the closed-loop system are bounded.It is proved that the UAV can follow the uncooperative target at the desired relative position within a prescribed time,thereby improving the applicability of the vision-based tracking approach.Simulation results have been presented to prove the validity of the proposed control strategy.

关 键 词：Nonlinear transformation performance constraint prescribed-time tracking uncooperative target vision-based measurement 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V249[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]