Adaptive robust control for unmanned combat platform: Obstacles avoiding and dynamic trajectory tracking

Abstract

AbstractThis paper proposes an adaptive robust control scheme to deal with the uncertainty problem of unmanned combat platform. Under the constraint of the controller, the rescue vehicle aims to follow the trajectory of the reconnaissance vehicle and avoid obstacles (e.g., craters and destroyed tanks), while they eventually reach the defined target location (an accident area). First, for the control objective, the original constraints are innovatively separated into two parts: arrival constraint and tracking‐avoidance constraint. An approximate constraint‐following control substitutes for the triple problem, and the constraint‐following error is subsequently established. Second, for the control strategy, a ‐measure is introduced to measure the constraint‐following error. To ensure the tracking‐avoidance constraint and the arrival constraint can be fully satisfied by the system, an adaptive robust control is designed. Finally, for the fast time‐varying uncertainty with unknown boundary, an adaptive law is introduced to evaluate the triple tracking‐avoidance‐arrival performance. In conclusion, the main contribution of this paper is to achieve triple tracking‐avoidance arrival for unmanned combat platform, and the problem of military detection and rescue on complex battlefields can be eliminated.