A Configuration Design and Control Method for Dual UAV Tracking of Fast-moving Targets on the Ground
In order to detect and track fast-moving targets on the ground,a target-tracking configura-tion and tracking control law for dual-drone formation was designed based on the error model of UAV reconnaissance loads.In the context of typical scenarios requiring continuous tracking,a Leader-Follo-wer-based dual-drone formation was designed.The error distribution model of the overlapped detection region for dual UAVs was established based on the sensor error model,which determined the spatial re-lationships between targets and the UAV formation.Then,the vector lead angle of the leader UAV and distance between and targets was defined as the tracking error baed on the visual relationships between UAVs and targets.A tracking control law based on the Lyapunov method was designed,and the as-ymptotic stability of the tracking control was proved.Finally,a formation control law for the follower UAV relative to the leader UAV was designed to maintain a parallel formation.Simulation results show that the dual UAV system can converge in a short time and realize continuous and stable tracking of moving targets.
UAVtarget trackingformation control lawLeader-Followervisual relationshipsLyapunov
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