Vision-based finite-time uncooperative target tracking for UAV subject to actuator saturation
ردیابی هدف مبتنی بر چشم انداز زمان غیر تعاملی مبتنی بر دید برای پهپاد با اشباع محرک-2021
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.© 2021 Elsevier Ltd. All rights reserved.
Keywords: Finite-time control | Vision-based control | UAV | Actuator saturation systems