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Volume 8 Issue 12
Dec.  2021

IEEE/CAA Journal of Automatica Sinica

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Article Contents
Yiguo Yang, Liefa Liao, Hong Yang and Shuai Li, "An Optimal Control Strategy for Multi-UAVs Target Tracking and Cooperative Competition," IEEE/CAA J. Autom. Sinica, vol. 8, no. 12, pp. 1931-1947, Dec. 2021. doi: 10.1109/JAS.2020.1003012
Citation: Yiguo Yang, Liefa Liao, Hong Yang and Shuai Li, "An Optimal Control Strategy for Multi-UAVs Target Tracking and Cooperative Competition," IEEE/CAA J. Autom. Sinica, vol. 8, no. 12, pp. 1931-1947, Dec. 2021. doi: 10.1109/JAS.2020.1003012

An Optimal Control Strategy for Multi-UAVs Target Tracking and Cooperative Competition

doi: 10.1109/JAS.2020.1003012
Funds:  This work was supported by the National Natural Science Foundation of China (71462018, 71761018) and the Science and Technology Program of Education Department of Jiangxi Province in China (GJJ171503)
More Information
  • An optimal control strategy of winner-take-all (WTA) model is proposed for target tracking and cooperative competition of multi-UAVs (unmanned aerial vehicles). In this model, firstly, based on the artificial potential field method, the artificial potential field function is improved and the fuzzy control decision is designed to realize the trajectory tracking of dynamic targets. Secondly, according to the finite-time convergence high-order differentiator, a double closed-loop UAV speed tracking the controller is designed to realize the speed control and tracking of the target tracking trajectory. Numerical simulation results show that the designed speed tracking controller has the advantages of fast tracking, high precision, strong stability and avoiding chattering. Finally, a cooperative competition scheme of multiple UAVs based on WTA is designed to find the minimum control energy from multiple UAVs and realize the optimal control strategy. Theoretical analysis and numerical simulation results show that the model has the fast convergence, high control accuracy, strong stability and good robustness.


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    • An optimal control strategy of WTA model is proposed for target tracking and cooperative competition of multi-UAVs.
    • A double closed-loop UAV speed tracking the controller is designed.
    • A trajectory tracking method of dynamic target is designed.


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