Optimal UAV Circumnavigation Control with Input Saturation Based on Information Geometry

摘要

In this paper, we investigate the problem of the optimal circumnavigation around a ground moving target for a fixed-wing unmanned aerial vehicle equipped with a radar. We propose an optimal circumnavigation control law which not only achieves the circumnavigation of a UAV around a moving target, but also maximizes the utilization of the sensor information. Firstly, an optimization criterion reflecting the extent of the sensor information utilization is established based on the Fisher information. Then, based on a neural network, an optimal circumnavigation control law with input saturation is designed. The result is a nearly optimal state feedback controller that has been tuned a priori off-line. Finally, a simulation is presented to demonstrate the validity and correctness of the proposed method.