On the one hand, controlling unmanned aerial vehicles (UAVs) to enclose targets offers distinct benefits for operations such as entrapment, escort, surveillance, reconnaissance. On the other hand, when driving UAVs to executing these tasks, strong robustness, rapid response and high energy efficiency are extremely critical considerations. For these reasons, this paper investigates an optimal circumnavigation control problem for UAVs subject to performance constraints and wind disturbances. First, a concise disturbance observer for enhancing system robustness is designed by imposing several filtering operations on state and input variables. Leveraging the estimated components, a performance-designated robust enclosing framework is proposed that not only enables UAVs to circumnavigate the target along an arbitrarily desired geometric shape, but also guarantees specified time and precision constraints. Unlike the prevailing circular/elliptical enclosing case, the deployment of any shaped enclosing orbit improves efficiency and adaptability for accommodating various missions. Second, a critic-only adaptive dynamic programming algorithm is tailored to minimize value function and stabilize error dynamics, allowing the UAV to balance cost and performance. Benefiting from the efficient utilization of real-time and historical data, the updating law for critic network ensures convergence of estimated weights to optimal values within finite time. Finally, simulation outcomes verify the efficiency of superiority of the presented method.
Performance-Designated Optimal Circumnavigation Control for UAVs Along Arbitrary Smooth Orbits
IEEE Transactions on Intelligent Vehicles ; 10 , 2 ; 1391-1401
2025-02-01
3097990 byte
Article (Journal)
Electronic Resource
English
Circumnavigation Control of Fixed-Wing UAVs Using Distance Measurements
Springer Verlag | 2023
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