Vision-based finite-time uncooperative target tracking for UAV subject to actuator saturation. (August 2021)

• Record Type: Journal Article
• Authors: Sun, Peng; Zhu, Bing; Zuo, Zongyu; Basin, Michael V.
• Is Part Of: Automatica. Volume 130(2021)
• Publication Date: 2021-08
• Subjects: Finite-time control -- Vision-based control -- UAV -- Actuator saturation systems; Automatic control -- Periodicals; Automation -- Periodicals; 629.805
• DOI: 10.1016/j.automatica.2021.109708
• Languages: English
• ISSNs: 0005-1098

Abstract

Abstract: In this paper, a vision-based finite-time control is proposed for an unmanned aerial vehicle (UAV) subject to actuator saturation to track an uncooperative target. The finite-time control is designed within a backstepping-type framework, where states of the uncooperative target cannot be measured directly and are estimated by a monocular camera equipped on the UAV. It is proven that, with the given control, the UAV with actuator saturation is capable of reaching the target for a finite settling time. Based on available initial states, the finite settling time can be estimated a priori . The theoretical results are illustrated by a simulation example.