基于模型预测控制的无人机对海面小型目标的隐蔽跟踪  

Covert Tracking of Small Maritime Target Using Unmanned Aerial Vehicle Based on Model Predictive Control

作　　者：李佳航 田景志 吕跃勇[1] 张泽旭[1] 郑重 LI Jiahang;TIAN Jingzhi;LYU Yueyong;ZHANG Zexu;ZHENG Zhong(School of Astronautics Harbin Institute of Technology,Harbin Heilongjiang 150001,China;The 32207^(th)Unit of PLA,Yulin Shaanxi 719000,China;School of Mechatronics Engineering Harbin Institute of Technology,Harbin Heilongjiang 150001,China)

机构地区：[1]哈尔滨工业大学航天学院,黑龙江哈尔滨150001 [2]32207部队,陕西榆林719000 [3]哈尔滨工业大学机电工程学院,黑龙江哈尔滨150001

出　　处：《海军航空大学学报》2024年第6期737-744,共8页Journal of Naval Aviation University

基　　金：国家自然科学基金(U23B6001、62273118、12150008);航天科技创新基金(SAST2023-085);空间智能控制技术实验室开放基金(HTKJ2022KL502012)。

摘　　要：针对具备对空探测防卫能力的海面小型机动目标的跟踪问题,提出了一种基于非线性模型预测控制的隐蔽跟踪方法。首先,搭建了无人机和海面小型机动目标的运动学模型,并对海面小型目标携带的无人机探测装备进行了能力分析;其次,根据海面小型目标携带的探测装备的性能参数,设计出一条隐蔽的期望包围跟踪轨迹,并以此建立相应的无奇点导航向量场;最后,设计非线性模型预测控制器,以跟踪导航向量场给出的期望速度信号,实现单架无人机对非协同海上运动目标的隐蔽跟踪。仿真结果表明,使用非线性模型预测控制器,能在保证较好的控制精度下,显著减少无人机的能量消耗,增加控制器输出的平滑性。In order to solve the problem of tracking small maritime target on the sea surface with anti-space detection and defense capability,a covert tracking method based on nonlinear model predictive control is proposed.Firstly,kinematic models are established for both the UAV and the small maritime target,with subsequent analysis conducted on the UAV detection equipment mounted on the maritime target to assess its capability.Secondly,a covert desired tracking trajectory is designed based on the performance parameters of the onboard radar on maritime target,and a Singularity-Free Guiding Vector Field is constructed.Finally,the UAV uses a nonlinear model predictive controller to track the desired velocity provided by the guiding vector field,achieving covert tracking for the non-cooperative small maritime target.Simulation results demonstrate that the nonlinear model predictive controller can significantly reduce UAV energy consumption and increase the smoothness of the controller output while maintaining better control accuracy.

关 键 词：无人机隐蔽跟踪 海面小型机动目标 无奇点导航向量场 非线性模型预测控制 

分 类 号：V279[航空宇航科学与技术—飞行器设计]