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Control algorithm design for tracking and interacting with a ground moving target using an aerial vehicle
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.ORCID iD: 0000-0003-0177-1993
2016 (English)In: Proceedings of the 35th Chinese Control Conference 2016, IEEE Computer Society, 2016, Vol. 2016, 5726-5731 p., 7554251Conference paper, Published paper (Refereed)
Abstract [en]

In this paper, a three-dimensional control problem is investigated in which an aerial vehicle equipped with a vision system is required to track and interact with a ground moving target. In order to guarantee the continuity of target observation, horizontal and vertical commands are designed separately under the constraints of the detection zone and vehicle dynamics. In order to realize a time-optimal trajectory as well as a smooth interaction with the target, a switched interaction algorithm is proposed, which combines an improved Rendezvous-Guidance (RG) algorithm and a Proportional Integral (PI) controller by the choice of a switching point. Moreover, simulation results are provided to demonstrate not only the effectiveness of the proposed algorithm, but also a high tolerance for detection and execution errors near the interaction point.

Place, publisher, year, edition, pages
IEEE Computer Society, 2016. Vol. 2016, 5726-5731 p., 7554251
Series
Chinese Control Conference, ISSN 2161-2927
Keyword [en]
aerial vehicle, PID control, rendezvous guidance, target interaction
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-194930DOI: 10.1109/ChiCC.2016.7554251ISI: 000400282202023Scopus ID: 2-s2.0-84987880354ISBN: 9789881563910 (print)OAI: oai:DiVA.org:kth-194930DiVA: diva2:1050275
Conference
35th Chinese Control Conference, CCC 2016, Chengdu, China, 27 July 2016 through 29 July 2016
Note

QC 20161128

Available from: 2016-11-28 Created: 2016-11-01 Last updated: 2017-06-12Bibliographically approved

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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf