Vision-Based Prescribed Performance Control for UAV Target Tracking Subject to Actuator Saturation

In this article, a vision-based prescribed performance control is proposed for an unmanned aerial vehicle (UAV) subject to actuator saturation to track an uncooperative target. It is supposed that states cannot be measured directly, and are estimated by a on-board camera. The proposed controller is...

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Published inIEEE transactions on intelligent vehicles Vol. 9; no. 1; pp. 2382 - 2389
Main Authors Sun, Peng, Zhu, Bing, Li, Siqi
Format Journal Article
LanguageEnglish
Published Piscataway IEEE 01.01.2024
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
actuator saturation
Actuators
Adaptive control
Algorithm design and analysis
Autonomous aerial vehicles
Control systems
Control systems design
Controllers
Initial conditions
Liapunov functions
Prescribed performance control
Robust control
Target tracking
Tracking control
Tracking errors
UAV
Unmanned aerial vehicles
vision-based control
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Abstract In this article, a vision-based prescribed performance control is proposed for an unmanned aerial vehicle (UAV) subject to actuator saturation to track an uncooperative target. It is supposed that states cannot be measured directly, and are estimated by a on-board camera. The proposed controller is designed within a backstepping framework, where an error transforming function and Barrier Lyapunov Function are applied, and a robust adaptive controller is designed to deal with initial conditions violating the prescribed performance. It is proven that, with the proposed controller, the tracking error converges into the prescribed performance boundary before the finite preset time.
AbstractList In this article, a vision-based prescribed performance control is proposed for an unmanned aerial vehicle (UAV) subject to actuator saturation to track an uncooperative target. It is supposed that states cannot be measured directly, and are estimated by a on-board camera. The proposed controller is designed within a backstepping framework, where an error transforming function and Barrier Lyapunov Function are applied, and a robust adaptive controller is designed to deal with initial conditions violating the prescribed performance. It is proven that, with the proposed controller, the tracking error converges into the prescribed performance boundary before the finite preset time.
Author Li, Siqi
Zhu, Bing
Sun, Peng
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SubjectTerms actuator saturation
Actuators
Adaptive control
Algorithm design and analysis
Autonomous aerial vehicles
Control systems
Control systems design
Controllers
Initial conditions
Liapunov functions
Prescribed performance control
Robust control
Target tracking
Tracking control
Tracking errors
UAV
Unmanned aerial vehicles
vision-based control
Title Vision-Based Prescribed Performance Control for UAV Target Tracking Subject to Actuator Saturation
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https://www.proquest.com/docview/2930961872
Volume 9
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