Circumnavigation of an Unknown Target Using UAVs with Range and Range Rate Measurements

This paper presents two control algorithms enabling a UAV to circumnavigate an unknown target using range and range rate (i.e., the derivative of range) measurements. Given a prescribed orbit radius, both control algorithms (i) tend to drive the UAV toward the tangent of prescribed orbit when the UAV is outside or on the orbit, and (ii) apply zero control input if the UAV is inside the desired orbit. The algorithms differ in that, the first algorithm is smooth and unsaturated while the second algorithm is non-smooth and saturated. By analyzing properties associated with the bearing angle of the UAV relative to the target and through proper design of Lyapunov functions, it is shown that both algorithms produce the desired orbit for an arbitrary initial state. Three examples are provided as a proof of concept.Comment: To appear in IEEE Conference on Decision and Control, 201

Optimal control of nonlinear partially-unknown systems with unsymmetrical input constraints and its applications to the optimal UAV circumnavigation problem

Aimed at solving the optimal control problem for nonlinear systems with unsymmetrical input constraints, we present an online adaptive approach for partially unknown control systems/dynamics. The designed algorithm converges online to the optimal control solution without the knowledge of the internal system dynamics. The optimality of the obtained control policy and the stability for the closed-loop dynamic optimality are proved theoretically. The proposed method greatly relaxes the assumption on the form of the internal dynamics and input constraints in previous works. Besides, the control design framework proposed in this paper offers a new approach to solve the optimal circumnavigation problem involving a moving target for a fixed-wing unmanned aerial vehicle (UAV). The control performance of our method is compared with that of the existing circumnavigation control law in a numerical simulation and the simulation results validate the effectiveness of our algorithm

Collaborative Target Tracking in Elliptic Coordinates: a Binocular Coordination Approach

This paper concentrates on the collaborative target tracking control of a pair of tracking vehicles with formation constraints. The proposed controller requires only distance measurements between tracking vehicles and the target. Its novelty lies in two aspects: 1) the elliptic coordinates are used to represent an arbitrary tracking formation without singularity, which can be deduced from inter-agent distances, and 2) the regulation of the tracking vehicle system obeys a binocular coordination principle, which simplifies the design of the control law by leveraging rich physical meanings of elliptic coordinates. The tracking system with the proposed controller is proven to be exponentially convergent when the target is stationary. When the target drifts with a small velocity, the desired tracking formation is achieved within a small margin proportional to the magnitude of the target's drift velocity. Simulation examples are provided to demonstrate the tracking performance of the proposed controller.Comment: 6 pages, 5 figure

Least-square based recursive optimization for distance-based source localization

In this paper we study the problem of driving an agent to an unknown source whose location is estimated in real-time by a recursive optimization algorithm. The optimization criterion is subject to a least-square cost function constructed from the distance measurements to the target combined with the agent's self-odometry. In this work, two important issues concerning real world application are directly addressed, which is a discrete-time recursive algorithm for concurrent control and estimation, and consideration for input saturation. It is proven that with proper choices of the system's parameters, stability of all system states, including on-board estimator variables and the agent-target relative position can be achieved. The convergence of the agent's position to the target is also investigated via numerical simulation

Target capture and station keeping of fixed speed vehicles without self-location information

The final publication is available at Elsevier via https://dx.doi.org/10.1016/j.ejcon.2018.06.003 © 2018. This manuscript version is made available under the CC-BY-NC-ND 4.0 license https://creativecommons.org/licenses/by-nc-nd/4.0/Target capture and station keeping problems for an autonomous vehicle agent have been studied in the literature for the cases where the position of the agent can be measured. Station keeping refers to moving the agent to a target whose distances are predefined from a set of beacons that can be stations or other agents. Here we study the target capture and station keeping problems for a nonholonomic vehicle agent that does not know its location and can measure only distances to the target (to the beacons for station keeping). This sensing limitation corresponds to consideration of unavailability of GPS and odometry in practical UAV settings. For each of the target capture and station keeping problems, we propose a control algorithm that uses only agent-target (agent-beacon for station keeping) range and range rate information. We show the stability and convergence properties of our control algorithms. We verified the performance of our control algorithms by simulations and real time experiments on a ground robot. Our algorithms captured the target in finite time in the experiments. Therefore, our algorithms are efficient in scenarios where GPS is unavailable or target identification by vision algorithms is unreliable but continuous agent-target range measurements are available.King Abdullah University of Science and Technolog

First Aerial South Atlantic Night Crossing

The history of the transatlantic flights began in 1919 when Albert C. Read’s team flew between Newfoundland and Lisbon, with a stopover at Azores, for fuel and repairs. The flight was made following a chain of 60 U.S. warships in order to guide it along its route and to provide assistance if needed. Two weeks later, John Alcock and Sir Arthur Whitten Brown made the first nonstop transatlantic flight from Newfoundland to County Galway, Ireland, covering more than 3000 km in just 16 hours of flight. In 1922, Gago Coutinho and Sacadura Cabral crossed the South Atlantic Ocean by air, for the first time using only internal means of navigation: a modified sextant and a course corrector; both devices proved its effectiveness. The Portuguese Aeronautics rejoiced auspicious days that time, with its aviation pioneers trying consecutively to reach more distant places along intercontinental flights. Several Around-the-World Flight Attempts were made in 1924: United States, England, France, Portugal, Argentina and Italy. However the circumnavigation purpose was only officially confirmed before the general public, when a considerable flying progress was achieved. In 1923, Gago Coutinho and Sacadura Cabral were contemplating to perform an Around the World Flight, a dream pursued also by Sarmento de Beires in 1924 and 1927. In 1927 and by following the knowledge obtained by Coutinho and Cabral, four Portuguese Airmen started an Around the World Flight Attempt in a mission that ended with seaplane sunk at the Ocean; however this mission was renamed after the seaplane loss and became known in the World as the First Aerial South Atlantic Night Crossing. For the first time in history, during the night of 16 to 17 March 1927, a Portuguese crew flew 2595 km over the Atlantic Ocean from Guinea, Africa to Fernando de Noronha Island, Brazil. The flight was made only by astronomical processes navigation resources that proved again to be absolutely feasible and trustworthy, regardless day or night lighting conditions.Fundação para a Ciência e a Tecnologiainfo:eu-repo/semantics/publishedVersio