Please use this identifier to cite or link to this item:
Title: Ground target tracking using UAV with input constraints
Authors: Zhu, Senqiang
Wang, Danwei
Low, Chang Boon
Issue Date: 2013
Source: Zhu, S., Wang, D., & Low, C. B. (2013). Ground Target Tracking Using UAV with Input Constraints. Journal of Intelligent & Robotic Systems, 69(1-4), 417-429.
Series/Report no.: Journal of intelligent & robotic systems
Abstract: This paper provides a solution to the problem of ground target tracking using an unmanned aerial vehicle (UAV) with control input constraints. Target tracking control with input constraints is an important and challenging topic in the study of UAVs. In order to achieve precise target tracking in the presence of constant background wind and target motion, this paper proposes a saturated heading rate controller based on a guidance vector field while the airspeed is held constant. This proposed approach guarantees the global convergence of the UAV to a desired circular orbit around a target. To estimate unknown constant background wind and target motion, an adaptive observer with bounded estimate is developed. Simulation results demonstrate the effectiveness of the proposed approach.
DOI: 10.1007/s10846-012-9737-y
Fulltext Permission: none
Fulltext Availability: No Fulltext
Appears in Collections:EEE Journal Articles

Google ScholarTM




Items in DR-NTU are protected by copyright, with all rights reserved, unless otherwise indicated.