一种基于有限时间稳定的环绕控制器设计

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.

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

To realize the standoff tracking with respect to a moving target, this paper presents a controller to enable the unmanned aerial vehicle (UAV) to rapidly track the desired circular path with speed constraint. According to the kinetic characteristics of UAV, a control strategy considering the target motion state is given, and a corresponding sufficient condition ensuring asymptotic stability is derived with the Lyapunov stability theory. Using finite-time and saturated control techniques, a control law is proposed which ensures the relative distance converges to the desired value in a finite time. Simulation results verify the effectiveness of the proposed control law.