NDLI: Circumnavigation of an unknown target using UAVs with range and range rate measurements

Content Provider	IEEE Xplore Digital Library
Author	Yongcan Cao Muse, J. Casbeer, D. Kingston, D.
Copyright Year	2013
Description	Author affiliation: Control Sci. Center of Excellence, Air Force Res. Lab., Wright-Patterson AFB, OH, USA (Yongcan Cao; Muse, J.; Casbeer, D.; Kingston, D.)
Abstract	This paper presents two control algorithms enabling a UAV to circumnavigate an unknown target using range and range rate (i.e., the derivative of range) measurements. Given a prescribed orbit radius, both control algorithms (i) tend to drive the UAV toward the tangent of prescribed orbit when the UAV is outside or on the orbit, and (ii) apply zero control input if the UAV is inside the desired orbit. The algorithms differ in that, the first algorithm is smooth and unsaturated while the second algorithm is non-smooth and saturated. By analyzing properties associated with the bearing angle of the UAV relative to the target and through proper design of Lyapunov functions, it is shown that both algorithms produce the desired orbit for an arbitrary initial state. Two examples are provided as a proof of concept.
Sponsorship	IEEE Control Syst. Soc.
Starting Page	3617
Ending Page	3622
File Size	1343740
Page Count	6
File Format	PDF
ISBN	9781467357142
ISSN	07431546
e-ISBN	9781467357173
DOI	10.1109/CDC.2013.6760439
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-12-10
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Clocks
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Modeling and Simulation

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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