Paper Info
Title
Flight Control for UAV Loitering Over a Ground Target with Unknown Maneuver.
Abstract
This paper proposes a flight controller for an unmanned aerial vehicle (UAV) to loiter over a ground moving target (GMT). We are concerned with the scenario that the stochastically time-varying maneuver of the GMT is {\em unknown} to the UAV, which renders it challenging to estimate the GMT's motion state. Assume that the state of the GMT is available, we first design a discrete-time Lyapunov vector field for the loitering guidance and design a discrete-time integral sliding mode control (ISMC) to track guidance commands. By modeling the maneuver process as a finite-state Markov chain, we proposed a Rao-Blackwellised particle filter (RBPF), which only requires a few number of particles, to simultaneously estimate the motion state and the maneuver of the GMT with a camera or radar sensor. Then, we apply the principle of certainty equivalence to the ISMC and obtain the flight controller for completing the loitering task. Finally, the effectiveness and advantages of our controller are validated via simulation.
Year
DOI
Venue
2019
10.1109/tcst.2019.2948915
IEEE Transactions on Control Systems and Technology
DocType
Volume
Citations 
Journal
abs/1906.07000
0
PageRank 
References 
Authors
0.34
0
3
Name
Order
Citations
PageRank
Fei Dong1282.96
Keyou You283150.16
Jiaqi Zhang3153.70