Vision-Based Adaptive Prescribed-Time Control of UAV for Uncooperative Target Tracking with Performance Constraint

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 limite...

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Bibliographic Details
Published inJournal of systems science and complexity Vol. 37; no. 5; pp. 1956 - 1977
Main Authors She, Xuehua, Ma, Hui, Ren, Hongru, Li, Hongyi
Format Journal Article
LanguageEnglish
Published Berlin/Heidelberg Springer Berlin Heidelberg 01.10.2024
Springer Nature B.V
Subjects
Adaptive control
Closed loops
Complex Systems
Constraints
Control
Control systems design
Feedback control
Mathematics
Mathematics and Statistics
Mathematics of Computing
Operations Research/Decision Theory
Statistics
Systems Theory
Target detection
Tracking control
Tracking systems
Unmanned aerial vehicles
performance constraint
uncooperative target
vision-based measurement
Nonlinear transformation
prescribed-time tracking
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Summary: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.
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ISSN:1009-6124
1559-7067
DOI:10.1007/s11424-024-3443-2