Integrated Guidance and Control for UAV Standoff Target Tracking

Abstract

Aiming at the 3D standoff target tracking problem with six degree-of-freedom (6-DOF) unmanned aerial vehicle (UAV) nonlinear dynamic model in windy environment, this paper designs an integrated tracking guidance and control system based on the 3D Lyapunov Guidance Vector Field (LGVF) and the linear active disturbance rejection control (LADRC). The designed system is composed of the angular and angle loops based on LADRC, the flight path loop combined with the inverse dynamic resolving approach and LADRC, and the LGVF guidance law. It enables UAV to track the maneuvering target in the standoff manner and converge to the desired trajectory. Simulations verify the disturbance rejection ability and the tracking ability of the system for tracking the maneuvering target.