Designing a predictive guidance and control system for maneuverable ground moving target tracking in 3D space using a Hexarotor

Abolfazl Eskandarpour, Seyyed Mohammad Mehdi Dehghan, Jalal Karimi · Journal of Control · 2020

In this paper, the continuity of tracking a ground moving target using a Hexarotor is considered in the presence of sudden changes in direction, deceptive movements, temporary departure from the field of view (FOV) and changes in the height of the target.In this regard, a hierarchical guidance and control system for target tracking problem in an unknown environment and disturbances is proposed.In the inner loop, a constrained model predictive controller is designed to eliminate the environmental disturbances and also to ensure the stability against the rapid movement of the target considering the constraints on the dynamic of the Hexarotor.In the outer loop of the controller, the ability of the Hexarotor in changing its height helps the Hexarotor to preserve the ground moving target despite the sudden changes in the target direction and its temporal exitance from the field of ‫طراح‬ ‫ي‬ ‫س‬ ‫ی‬ ‫ستم‬ ‫هدا‬ ‫ی‬ ‫ت‬ ‫پیش‬ ‫کنترل‬ ‫و‬ ‫بین‬ ‫مدل‬ ‫براي‬ ‫رد‬ ‫ی‬ ‫اب‬ ‫ي‬ ‫زم‬ ‫اهداف‬ ‫نی‬ ‫ي‬ ‫مانورپذ‬ ‫ی‬ ‫ر‬ ‫فر‬ ‫و‬ ‫ی‬ ‫بنده‬ ‫توسط‬ ‫ی‬ ‫ك‬ ‫هگزاروتور‬ ‫فضاي‬ ‫در‬ ‫بعد‬ ‫سه‬ ‫ي‬

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