摘要
针对单无人机对单目标的环航跟踪问题,设计了一个能保证无人机在速度有界条件下,飞行轨迹快速收敛到期望航迹的控制器. 1)根据无人机运动特性,设计了一个考虑目标运动状态的控制方案,并利用Lyapunov稳定性定理给出了系统渐近稳定的充分条件. 2)结合饱和控制和有限时间控制,得到使无人机相对目标距离在有限时间内收敛到期望值的充分条件. 3)用数值算例比较验证了所提控制器的有效性.
To realize the standoff tracking with respect to a moving target, this paper presents a controller to enable the unmanned aerial vehicle（UAV） to rapidly track the desired circular path with speed constraint. According to the kinetic characteristics of UAV, a control strategy considering the target motion state is given, and a corresponding sufficient condition ensuring asymptotic stability is derived with the Lyapunov stability theory. Using finite-time and saturated control techniques, a control law is proposed which ensures the relative distance converges to the desired value in a finite time. Simulation results verify the effectiveness of the proposed control law.
作者
张春燕
戚国庆
李银伢
盛安冬
ZHANG Chun-Yan;QI Guo-Qing;LI Yin-Ya;SHENG An-Dong(College of Automation,Nanjing University of Science and Technology,Nanjing 210094)
出处
《自动化学报》
EI
CSCD
北大核心
2018年第11期2056-2067,共12页
Acta Automatica Sinica
基金
国家自然科学基金(61871221
61876024)资助~~
