Tracking a Moving Target by a Fixed-wing UAV Based on Sliding Mode Control
Mingfeng Zhang, Hugh H. T. Liu · AIAA Guidance, Navigation, and Control (GNC) Conference · 2013
This paper presents a target tracking algorithm that enables a fixed-wing unmanned aerial vehicle (UAV) to keep tracking an uncooperative, moving target. The proposed tracking algorithm is based on sliding mode control, and it ensures that the UAV can maintain a persistent circular motion with respect to the moving target as long as the target is not faster than the UAV. Special attention is taken to eliminate the inherent chattering phenomenon involved in sliding mode control, and asymptotic stability is achieved for the tracking algorithm. Simulation results are presented to demonstrate the performance of the proposed algorithm.