Vision-based finite-time uncooperative target tracking for UAV subject to actuator saturation

• DOI: 10.1016/j.automatica.2021.109708
• Publication Date: 2021-05-28T15:56:42Z
• Authors: Peng Sun; Bing Zhu; Zongyu Zuo; Michael V. Basin
• Keywords: Settling time; Saturation (graph theory); Tracking (education)

Abstract In this paper, a vision-based finite-time control is proposed for an unmanned aerial vehicle (UAV) subject to actuator saturation to track an uncooperative target. The finite-time control is designed within a backstepping-type framework, where states of the uncooperative target cannot be measured directly and are estimated by a monocular camera equipped on the UAV. It is proven that, with the given control, the UAV with actuator saturation is capable of reaching the target for a finite settling time. Based on available initial states, the finite settling time can be estimated a priori. The theoretical results are illustrated by a simulation example.