Covert Tracking of Small Maritime Target Using Unmanned Aerial Vehicle Based on Model Predictive Control
In order to solve the problem of tracking small maritime target on the sea surface with anti-space detection and defense capability,a covert tracking method based on nonlinear model predictive control is proposed.Firstly,kinematic models are established for both the UAV and the small maritime target,with subsequent analysis conducted on the UAV detection equipment mounted on the maritime target to assess its capability.Secondly,a covert desired tracking trajectory is designed based on the performance parameters of the onboard radar on maritime target,and a Singularity-Free Guiding Vector Field is constructed.Finally,the UAV uses a nonlinear model predictive controller to track the desired velocity pro-vided by the guiding vector field,achieving covert tracking for the non-cooperative small maritime target.Simulation re-sults demonstrate that the nonlinear model predictive controller can significantly reduce UAV energy consumption and in-crease the smoothness of the controller output while maintaining better control accuracy.
UAV covert trackingsmall maritime moving targetSingularity-Free Guiding Vector Fieldnonlinear model predictive control
万方数据
维普
