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一种基于有限时间稳定的环绕控制器设计

张春燕 戚国庆 李银伢 盛安冬

张春燕, 戚国庆, 李银伢, 盛安冬. 一种基于有限时间稳定的环绕控制器设计. 自动化学报, 2018, 44(11): 2056-2067. doi: 10.16383/j.aas.2017.c160798
引用本文: 张春燕, 戚国庆, 李银伢, 盛安冬. 一种基于有限时间稳定的环绕控制器设计. 自动化学报, 2018, 44(11): 2056-2067. doi: 10.16383/j.aas.2017.c160798
ZHANG Chun-Yan, QI Guo-Qing, LI Yin-Ya, SHENG An-Dong. Standoff Tracking Control With Respect to Moving Target via Finite-time Stabilization. ACTA AUTOMATICA SINICA, 2018, 44(11): 2056-2067. doi: 10.16383/j.aas.2017.c160798
Citation: ZHANG Chun-Yan, QI Guo-Qing, LI Yin-Ya, SHENG An-Dong. Standoff Tracking Control With Respect to Moving Target via Finite-time Stabilization. ACTA AUTOMATICA SINICA, 2018, 44(11): 2056-2067. doi: 10.16383/j.aas.2017.c160798

一种基于有限时间稳定的环绕控制器设计

doi: 10.16383/j.aas.2017.c160798
基金项目: 

国家自然科学基金 61876024

国家自然科学基金 61871221

详细信息
    作者简介:

    张春燕  南京理工大学自动化学院博士研究生.主要研究方向为目标跟踪.E-mail:chunyan.zhang@njust.edu.cn

    李银伢  南京理工大学自动化学院副研究员.主要研究方向为非线性估计理论及应用.E-mail:liyinya@njust.edu.cn

    盛安冬  南京理工大学自动化学院研究员.主要研究方向为多源信息融合, 非线性估计理论及应用.E-mail:shengandong@njust.edu.cn

    通讯作者:

    戚国庆  南京理工大学自动化学院副研究员.主要研究方向为随机状态估计, 多传感器数据融合.本文通信作者.E-mail:qiguoqing@njust.edu.cn

Standoff Tracking Control With Respect to Moving Target via Finite-time Stabilization

Funds: 

National Natural Science Foundation of China 61876024

National Natural Science Foundation of China 61871221

More Information
    Author Bio:

     Ph. D. candidate at the College of Automation, Nanjing University of Science and Technology. Her main research interest is target tracking

     Associate professor at the College of Automation, Nanjing University of Science and Technology. His research interest covers nonlinear estimation theory and application

     Professor at the College of Automation, Nanjing University of Science and Technology. His research interest covers multi-source information fusion and the nonlinear estimation theory and its application

    Corresponding author: QI Guo-Qing  Associate professor at the College of Automation, Nanjing University of Science and Technology. His research interest covers stochastic state estimation and multi-sensor information fusion. Corresponding author of this paper
  • 摘要: 针对单无人机对单目标的环航跟踪问题,设计了一个能保证无人机在速度有界条件下,飞行轨迹快速收敛到期望航迹的控制器.1)根据无人机运动特性,设计了一个考虑目标运动状态的控制方案,并利用Lyapunov稳定性定理给出了系统渐近稳定的充分条件.2)结合饱和控制和有限时间控制,得到使无人机相对目标距离在有限时间内收敛到期望值的充分条件.3)用数值算例比较验证了所提控制器的有效性.
    1)  本文责任编委 朱纪洪
  • 图  1  系统模型

    Fig.  1  Model of the system

    图  2  环航跟踪相对几何模型

    Fig.  2  Guidance geometry for standofi tracking

    图  3  饱和约束下的有限时间稳定控制参数

    Fig.  3  Control parameters of flnite-time stability subject to saturation

    图  4  目标速度对环航跟踪误差的影响

    Fig.  4  The influences of the target velocity on the standofi tracking errors

    图  5  $d(0)>d_0$时静止目标环航跟踪

    Fig.  5  Standoff tracking a static target when $d(0)>d_0$

    图  6  $d(0)<d_0$时静止目标环航跟踪

    Fig.  6  Standoff tracking a static target when $d(0)<d_0$

    图  7  $d(0)>d_0$时机动目标环航跟踪

    Fig.  7  Standoff tracking a maneuvering target when $d(0)>d_0$

    图  8  $d(0)<d_0$时机动目标环航跟踪

    Fig.  8  Standoff tracking a maneuvering target when $d(0)<d_0$

    图  9  $\kappa$对无人机环航轨迹和收敛速度的影响

    Fig.  9  The influences of $\kappa$ on the trajectory of UAV and rate of convergence

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出版历程
  • 收稿日期:  2016-12-01
  • 录用日期:  2017-04-18
  • 刊出日期:  2018-11-20

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