Receding Horizon Model-Based Predictive Control for Dynamic Target Tracking: a Comparative Study

Pr, Carole G.; Th, Olivier; Poulin, Éric C.; Gagnon, Éric

doi:10.2514/6.2009-6268

Cited by 17 publications

(11 citation statements)

References 8 publications

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“…The control strategy proposed in this study ignores the target's motion. In addition to the nonlinear control method, the model predictive control (MPC) [14,15], backstepping-based controller [16,17] and sliding mode control (SMC) [18] are presented to get good performance of target tracking.…”

Section: Introductionmentioning

confidence: 99%

Target Tracking Based on a Nonsingular Fast Terminal Sliding Mode Guidance Law by Fixed-Wing UAV

Cai

Zhao

et al. 2017

Applied Sciences

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This paper proposes a modified nonsingular fast terminal sliding mode (NFTSM) guidance law to solve the problem of ground moving target tracking for fixed-wing unmanned aerial vehicle (UAV) in a planar environment. Firstly, the loitering algorithm is analysed, which can steer the UAV to follow and circle around a ground moving target with the desired distance by heading angle control. Secondly, the effects of different parameters on the convergence time of sliding manifold is presented which is helpful for the designing of sliding manifold. Singularity can be avoided by using a modified saturation function which is obtained through a small range around the null point. Moreover, the NFTSM sliding manifold is used in the loitering algorithm. By using the Lyapunov theory, the finite-time convergence of the proposed method has been proved in the the reaching phase and the sliding phase. In order to verify the approach's feasibility and benefits, numerical simulations are performed by using a moving target with three different motion states in comparison with the conventional sliding model control method. Simulation results indicate that, under the proposed NFTSM guidance law, the UAV can reach the desired distance in a short time.

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Section: Introductionmentioning

confidence: 99%

Target Tracking Based on a Nonsingular Fast Terminal Sliding Mode Guidance Law by Fixed-Wing UAV

Cai

Zhao

et al. 2017

Applied Sciences

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“…Tracking MGTs with UAVs is the foundation of their performance of important tasks like surveillance, reconnaissance and intelligence missions [3]. Although it has attracted a lot of research interest in recently years, most studies are either concerned with only one aspect [4][5][6][7] of the tracking problem or else in pure theoretical terms [2,[8][9][10]. Researchers still have a lot of work to do before UAVs can fully autonomously track MGTs.…”

Section: Introductionmentioning

confidence: 99%

Vision-Based Detection and Tracking of a Mobile Ground Target Using a Fixed-Wing UAV

Wang

Zhu

Zhang

et al. 2014

International Journal of Advanced Robotic Systems

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This paper presents a framework for tracking a mobile ground target (MGT) using a fixed-wing unmanned aerial vehicle (UAV). Challenges from pure theories to practical applications, including varying illumination, computational limits and a lack of clarity are considered. The procedure consists of four steps, namely: target detection, target localization, states estimation and UAV guidance. Firstly, the MGT in the wild is separated from the background using a Laplacian operator-based method. Next, the MGT is located by performing coordinate transformations with the assumption that the altitude of the ground is invariant and known. Afterwards, a Kalman filter is used to estimate the location and velocity of the MGT. Finally, a modified guidance law is developed to guide the UAV to circle and track the MGT. The performance of our framework is validated by simulations and a number of actual flight tests. The results indicate that the framework is effective and of low computational complexity, and in particular our modified guidance law can reduce the error of the tracking distance by about 75% in specified situations. With the proposed framework, such challenges caused by the actual system can be tackled effectively, and the fixed-wing UAV can track the MGT stably.

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“…5) Prevost et al proposed receding horizon model predictive control (MPC) for tracking ground targets using fixed-wing UAVs. 6) Kim et al proposed a nonlinear MPC framework for cooperative standoff tracking of a ground vehicle for fixed-wing UAVs. 7) On the other hand, distance error dynamics can also be utilized to design a guidance law for the stationary target observation.…”

Section: Introductionmentioning

confidence: 99%

Turning Direction Determination using Error Dynamics-Based Guidance Law for Stationary Target Observation

Kim

2014

Trans. Japan Soc. Aero. S Sci.

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Guidance laws are proposed to enable unmanned aerial vehicles (UAVs) to accomplish stationary target observation missions. In this paper, a nonlinear guidance law is designed utilizing the characteristics of distance error dynamics. The turning direction of the UAVs is very important for multiple UAVs operation. The turning direction of UAV is related to the line-of-sight angular acceleration of the UAV. The proposed guidance law is analyzed to provide a guideline for selecting guidance gains taking into consideration the turning direction. Numerical simulations are performed to verify the performance of the proposed guidance law.

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Receding Horizon Model-Based Predictive Control for Dynamic Target Tracking: a Comparative Study

Cited by 17 publications

References 8 publications

Target Tracking Based on a Nonsingular Fast Terminal Sliding Mode Guidance Law by Fixed-Wing UAV

Target Tracking Based on a Nonsingular Fast Terminal Sliding Mode Guidance Law by Fixed-Wing UAV

Vision-Based Detection and Tracking of a Mobile Ground Target Using a Fixed-Wing UAV

Turning Direction Determination using Error Dynamics-Based Guidance Law for Stationary Target Observation

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