TY - GEN
T1 - Circumnavigating Control of an Unmanned Aerial Vehicle Using Range-Only Measurements
AU - You, Xuancheng
AU - Ma, Baoli
AU - Wang, Jie
N1 - Publisher Copyright:
© 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
PY - 2023
Y1 - 2023
N2 - In this paper, a control law utilizing only range measurements is presented to steer an unmanned aerial vehicle (UAV) circumnavigating a stationary target on the ground at a predefined flight height. First, we derive the error dynamics using a coordinate transformation. Second, a full-state measurement circumnavigating control law which uses virtual control inputs is proposed. Third, an observer is designed to compensate for the unmeasurable state in the full-state control law, and semi-global asymptotic stability of the closed-loop system is proven. Subsequently, the real control inputs are derived by applying a nonsingular transformation to the virtual control inputs. Numerous simulations and experiments are carried out to validate the excellent performance of the presented control scheme.
AB - In this paper, a control law utilizing only range measurements is presented to steer an unmanned aerial vehicle (UAV) circumnavigating a stationary target on the ground at a predefined flight height. First, we derive the error dynamics using a coordinate transformation. Second, a full-state measurement circumnavigating control law which uses virtual control inputs is proposed. Third, an observer is designed to compensate for the unmeasurable state in the full-state control law, and semi-global asymptotic stability of the closed-loop system is proven. Subsequently, the real control inputs are derived by applying a nonsingular transformation to the virtual control inputs. Numerous simulations and experiments are carried out to validate the excellent performance of the presented control scheme.
KW - Circumnavigating control
KW - Coordinate transformation
KW - Input transformation
KW - Range-only measurements
KW - Unmanned aerial vehicle
UR - https://www.scopus.com/pages/publications/85174549872
U2 - 10.1007/978-981-99-6886-2_4
DO - 10.1007/978-981-99-6886-2_4
M3 - 会议稿件
AN - SCOPUS:85174549872
SN - 9789819968855
T3 - Lecture Notes in Electrical Engineering
SP - 35
EP - 46
BT - Proceedings of 2023 Chinese Intelligent Systems Conference - Volume III
A2 - Jia, Yingmin
A2 - Zhang, Weicun
A2 - Fu, Yongling
A2 - Wang, Jiqiang
PB - Springer Science and Business Media Deutschland GmbH
T2 - 19th Chinese Intelligent Systems Conference, CISC 2023
Y2 - 14 October 2023 through 15 October 2023
ER -