Vision-based finite-time uncooperative target tracking for UAV subject to actuator saturation

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 di...

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Bibliographic Details
Published inAutomatica (Oxford) Vol. 130; p. 109708
Main Authors Sun, Peng, Zhu, Bing, Zuo, Zongyu, Basin, Michael V.
Format Journal Article
LanguageEnglish
Published Elsevier Ltd 01.08.2021
Subjects
Actuator saturation systems
Finite-time control
UAV
Vision-based control
Finite-time control
Actuator saturation systems
UAV
Vision-based control
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ISSN0005-1098
1873-2836
DOI10.1016/j.automatica.2021.109708

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Summary: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.
ISSN:0005-1098
1873-2836
DOI:10.1016/j.automatica.2021.109708