This paper describes a 2D target loitering problem addressed to UAV applications. While target tracking and loitering problems have been studied for long time in literature, here a new and particular type of loitering trajectory around the target (fix o moving) is considered: a Lemniscate-type trajectory. The proposed way to track this particular curve derives from the Lyapunov Vector Field theory, a recently developed methodology that has been used and tested for simpler cases before, such as circles or basin-like trajectory tracking. A stability analysis and preliminary simulation results are given in this paper.
UAV Guidance Law for Target Tracking along constrained Bow-Shaped Trajectory based on Lyapunov Vector Field / N. Regina; M. Zanzi. - ELETTRONICO. - 43:15(2010), pp. 87-92. (Intervento presentato al convegno 18th IFAC Symposium on Automatic Control in Aerospace tenutosi a Nara, Japan nel 6-10 settembre 2010) [10.3182/20100906-5-jp-2022.00016].
UAV Guidance Law for Target Tracking along constrained Bow-Shaped Trajectory based on Lyapunov Vector Field
REGINA, NIKI;ZANZI, MATTEO
2010
Abstract
This paper describes a 2D target loitering problem addressed to UAV applications. While target tracking and loitering problems have been studied for long time in literature, here a new and particular type of loitering trajectory around the target (fix o moving) is considered: a Lemniscate-type trajectory. The proposed way to track this particular curve derives from the Lyapunov Vector Field theory, a recently developed methodology that has been used and tested for simpler cases before, such as circles or basin-like trajectory tracking. A stability analysis and preliminary simulation results are given in this paper.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
