This thesis presents controllers that use relative range and bearing measurements to steer unmanned aerial vehicles (UAVs) to circular trajectories around stationary, constantly moving and constantly accelerating targets. The range and bearing to the target, along with their derivaties are estimated. These, along with the estimated local heading of the UAVs, are used in the control law, and to estimate the velocity of the target. In this work, six controllers are presented. The controller for a stationary target is derived using Lyapunov's direct method, and feedback linearization is used for the constant velocity and accelerating targets. A new controller is proposed to control the direction of encirclement for moving targets, using Lyapunov's direct method. Additional terms are introduced to maintain a temporally equi-spaced formation around the targets. Theoretical proofs are provided for all controllers using Lyapunov theory. Numerical simulations show vehicles converging to circular formations around both stationary and moving targets. Results are shown using MATLAB simulations with Gaussian noise added to the measurements. Further, a technique is proposed for information exchange between UAVs, with bounds provided for the time taken to dissipate information throughout the system in a scenario with multiple groups of UAVs tracking multiple targets.
College and Department
Physical and Mathematical Sciences
BYU ScholarsArchive Citation
Jain, Puneet, "Controller Design for Coordinated Encirclement of Moving Targets" (2019). Theses and Dissertations. 8712.
encirclement, stability, simulations, feedback linearization