Adaptive Vision-Based Guidance Law with Guaranteed Performance Bounds for Tracking a Ground Target with Time-Varying Velocity
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Authors
Ma, Lili
Cao, Chengyu
Hovakimyan, Naira
Dobrokhodov, Vladimir
Kaminer, Isaac
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2008-08
Date
August 18 - 21, 2008
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Abstract
This work extends the earlier results of authors on vision-based tracking of a
ground vehicle moving with unknown time-varying velocity. The follower UAV
is equipped with a single camera. The control objective is to regulate the 2D
horizontal range between the UAV and the target to a constant. The extension in
this paper has two distinct features.
The earlier developed guidance law used the estimates of the target’s velocity
obtained from a fast estimation scheme. In this paper, we prove guaranteed performance
bounds for the fast estimation scheme and explicitly derive the tracking
performance bound as a function of the estimation error. The performance bounds
imply that the signals of the closed-loop adaptive system remain close to the corresponding
signals of a bounded closed-loop reference system both in transient and
steady-state. The reference system is introduced solely for the purpose of analysis.
This paper also analyzes the stability and the performance degradation of the
closed-loop adaptive system in the presence of out-of-frame events, when continuous
extraction of the target’s information is not feasible due to failures in the
image processing module. The feedback loop is then closed using the frozen estimates.
The out-of-frame events are modelled as brief instabilities. A su±cient
condition for the switching signal is derived that guarantees graceful degradation of
performance during target loss. The results build upon the earlier developed fast
estimation scheme of the target’s velocity, the inverse-kinematics-based guidance
law and insights from switching systems theory.
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Article
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AIAA Guidance, Navigation and Control Conference and Exhibit
18 - 21 August 2008, Honolulu, Hawaii
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The work of VT authors was sponsored in part by ARO Grant #W911NF-06-1-0330 and AFOSR MURI subcontract F49620-03-1-0401. Authors from Naval Postgraduate School acknowledge the support of US Special Operations Command.
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This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.