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

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Abstract

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 outputfeedback 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.

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Acknowledgements

This work was 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), and in part by Jiangsu Province “333” Project (Grant No. BRA2019051).

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Authors and Affiliations

  1. College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, 210016, China

    Kenan Yong, Mou Chen & Qingxian Wu

Authors
  1. Kenan Yong
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  2. Mou Chen
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  3. Qingxian Wu
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Correspondence to Mou Chen.

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Yong, K., Chen, M. & Wu, Q. Noncertainty-equivalent observer-based noncooperative target tracking control for unmanned aerial vehicles. Sci. China Inf. Sci. 65, 152202 (2022). https://doi.org/10.1007/s11432-020-3205-4

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  • DOI: https://doi.org/10.1007/s11432-020-3205-4

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