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Control System Design for an Unmanned Helicopter to Track a Ground Target

Chinese Journal of Mechanical Engineering 2011年第3期24卷 420-427页

作者： xin zhekui FANG Yongchun Beijing Aerospace Automatic Control Institute Beijing 100854 China Institute of Robotics andInformation Automatic System Nankai University Tianjin 300071 China

Due to potential wide applications,the problem of utilizing an unmanned helicopter to track a ground target has become one of the most active research directions in related ***,in most cases,it is possible for a dynamic target to implement evasive actions with strong maneuverability,such as a sudden turn during high-speed movement,to flee from the tracker,which then brings much difficulty for the design of tracking control ***,most research on this field focuses on utilizing a ground mobile robot to track a high-speed ***,it is very difficult to extend those developed methods to airborne applications due to much more complex dynamices of UAV-target relative *** study investiages thoroughly for the problem of using an unmanned helicopter to track a ground target,with particular emphasis on the avoidance of tracking failure caused by the evasive maneuvers of dynamic ***,a novel control scheme,which consists of an innovative target tracking controller and a classical flight controller,is proposed for the helicopter-target tracking ***,the tracking controller,whose design is the focus of the paper,aims to utilize the motion information of the helicopter and the dynamic target to construct a suitable trajectory for the helicopter,so that when it flies along this trajectory,the relative pose between the helicopter and the dynamic target will be kept *** designing the target tracking controller,a novel coordinate transformation is firstly introduced to convert the tracking system into a more compact form convenient for control law design,the desired velocities for the helicopter is then proposed with consideration of the dynamic *** stability of the closed-loop system is finally analyzed by Lyapunov *** on Matlab/Simulink environment,two groups of simulation are conducted for the helicopter-target tracking control system where the target moves along a linear path

关键词： unmanned helicopter trajectory plan target tracking

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