面向协同standoff跟踪问题的无人机制导律

doi:10.7527/S1000-6893.2013.0470

Abstract

Abstract:

A lateral and longitudinal guidance law of unmanned aerial vehicles (UAVs) for coordinated standoff target tracking is proposed. The reference point guidance (RPG) is modified as the lateral guidance law of the UAV, and the convergence process of the relative distance between the UAV and the target is modeled by nonlinear differential equations. The asymptotic stability of the modified RPG is demonstrated based on this nonlinear system, and then the relationship between the RPG parameter and system performance is derived as the basis for parameter selection. Finally, a longitudinal guidance law is provided, and its asymptotic stability is demonstrated. According to simulations, the tracking error and integrated time absolute error (ITAE) of the modified RPG are smaller than those obtained from Lyapunov vector field guidance (LVFG) and model-based predictive control (MPC). Thus the modified RPG possesses faster response speed and higher steady state accuracy than LVFG and MPC.

Key words: unmanned aerial vehicles, nonlinearity, asymptotic stability, standoff tracking, guidance

CLC Number:

V249
TP391

WANG Shulei, WEI Ruixuan, GUO Qing, WEI Wenjie. UAV Guidance Law for Coordinated Standoff Target Tracking[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2014, 35(6): 1684-1693.

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UAV Guidance Law for Coordinated Standoff Target Tracking

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