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 uncooperat...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.展开更多
基金supported by the National Natural Science Foundation of China under Grant Nos.62033003,62203119,62373113,U23A20341,and U21A20522the Natural Science Foundation of Guangdong Province under Grant Nos.2023A1515011527 and 2022A1515011506.
文摘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.
