Disturbance Observer Based Target Tracking Control for Unmanned Aerial Vehicles

被引：0
|
作者：
Yong, Kenan [1 ]
Wu, Qingxian [1 ]
Chen, Mou [1 ]
机构：
[1] Nanjing Univ Aeronaut & Astronaut, Coll Automat Engn, Nanjing 211106, Jiangsu, Peoples R China
来源：
2017 INTERNATIONAL CONFERENCE ON ADVANCED MECHATRONIC SYSTEMS (ICAMECHS) | 2017年
基金：
中国国家自然科学基金;
关键词：
Target tracking; Unknown target dynamics; Unmanned aerial vehicles; Disturbance observer; MOBILE ROBOTS;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
This paper investigates the target tracking problem for unmanned aerial vehicles (UAVs) with unknown target dynamics. To tackle the unknown target dynamics, the unavailable derivative of target trajectory is regarded as the disturbance and the disturbance observer is applied to estimate it. With the output of disturbance observer, the backstepping approach is utilized to design the target tracking control law. Furthermore, the Lyapunov approach is applied to guarantee the boundedness of closed-loop system signals. At last, the numerical simulation results are presented to show the effectiveness of the proposed control scheme.
引用
收藏
页码：173 / 177
页数：5
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