Ground-target tracking UAVs system via nonlinear distbuted model predictive control
Huiyan Li, Quan Bo Yuan, Xiang Li · IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society · 2017
This paper designs a ground-target tracking system with unmanned aerial vehicles(UAVs), which consists of the states estimation of the ground target and the distributed model predictive control with two UAVs. In the tracking system, the extended kalman filter estimates the states of the target, and the distributed model predictive control in the UAVs is responsible to track the target and avoid collision. Both the fixed-wing and rotorcraft UAVs are successfully realized. Numerical simulations demonstrate the effectiveness of our tracking systems with the designed UAVs.