Three-dimensional discrete-time controller to intercept a targeted UAV using a capture net towed by multiple aerial robots

摘要

This study considers a team of aerial robots towing the boundary of a capture net so that the net intercepts a fast unmanned aerial vehicle (UAV) with variable velocity. The robot team tows the net boundary so that the net captures the targeted UAV as fast as possible. The centre of the net is controlled so that the net centre moves while not rotating the line-of-sight connecting the pair (the net centre and the UAV). MATLAB simulations are used to verify the effectiveness of the authors' approach.