Insensitive Mechanism-Based Nonlinear Model Predictive Guidance for UAVs Intercepting Maneuvering Targets with Input Constraints
This paper proposed an innovative guidance strategy, denoted as NMPC-IM, which integrates the Insensitive Mechanism (IM) with Nonlinear Model Predictive Control (NMPC) for Unmanned Aerial Vehicle (UAV) pursuit-evasion scenarios, with the aim of effectively intercepting maneuvering targets with consi...
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-10-01
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| Series: | Drones |
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| Online Access: | https://www.mdpi.com/2504-446X/8/11/608 |
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| author | Danpeng Huang Mingjie Zhang Taideng Zhan Jianjun Ma |
| author_facet | Danpeng Huang Mingjie Zhang Taideng Zhan Jianjun Ma |
| author_sort | Danpeng Huang |
| collection | DOAJ |
| description | This paper proposed an innovative guidance strategy, denoted as NMPC-IM, which integrates the Insensitive Mechanism (IM) with Nonlinear Model Predictive Control (NMPC) for Unmanned Aerial Vehicle (UAV) pursuit-evasion scenarios, with the aim of effectively intercepting maneuvering targets with consideration of input constraints while minimizing average energy expenditure. Firstly, the basic principle of IM is proposed, and it is transformed into an additional cost function in NMPC. Secondly, in order to estimate the states of maneuvering target, a fixed-time sliding mode disturbance observer is developed. Thirdly, the UAV’s interception task is formulated into a comprehensive Quadratic Programming (QP) problem, and the NMPC-IM guidance strategy is presented, which is then improved by the adjustment of parameters and determination of maximum input. Finally, numerical simulations are carried out to validate the effectiveness of the proposed method, and the simulation results show that the NMPC-IM guidance strategy can decrease average energy expenditure by mitigating the impact of the target’s maneuverability, optimizing the UAV’s trajectory during the interception process. |
| format | Article |
| id | doaj-art-e8186282404c462293d4a3959b9bbeac |
| institution | OA Journals |
| issn | 2504-446X |
| language | English |
| publishDate | 2024-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Drones |
| spelling | doaj-art-e8186282404c462293d4a3959b9bbeac2025-08-20T02:08:09ZengMDPI AGDrones2504-446X2024-10-0181160810.3390/drones8110608Insensitive Mechanism-Based Nonlinear Model Predictive Guidance for UAVs Intercepting Maneuvering Targets with Input ConstraintsDanpeng Huang0Mingjie Zhang1Taideng Zhan2Jianjun Ma3College of Intelligence Science and Technology, National University of Defence Technology, Changsha 410005, ChinaCollege of Intelligence Science and Technology, National University of Defence Technology, Changsha 410005, ChinaCollege of Intelligence Science and Technology, National University of Defence Technology, Changsha 410005, ChinaCollege of Intelligence Science and Technology, National University of Defence Technology, Changsha 410005, ChinaThis paper proposed an innovative guidance strategy, denoted as NMPC-IM, which integrates the Insensitive Mechanism (IM) with Nonlinear Model Predictive Control (NMPC) for Unmanned Aerial Vehicle (UAV) pursuit-evasion scenarios, with the aim of effectively intercepting maneuvering targets with consideration of input constraints while minimizing average energy expenditure. Firstly, the basic principle of IM is proposed, and it is transformed into an additional cost function in NMPC. Secondly, in order to estimate the states of maneuvering target, a fixed-time sliding mode disturbance observer is developed. Thirdly, the UAV’s interception task is formulated into a comprehensive Quadratic Programming (QP) problem, and the NMPC-IM guidance strategy is presented, which is then improved by the adjustment of parameters and determination of maximum input. Finally, numerical simulations are carried out to validate the effectiveness of the proposed method, and the simulation results show that the NMPC-IM guidance strategy can decrease average energy expenditure by mitigating the impact of the target’s maneuverability, optimizing the UAV’s trajectory during the interception process.https://www.mdpi.com/2504-446X/8/11/608Unmanned Aerial Vehicles (UAV)Nonlinear Model Predictive Control (NMPC)disturbance observerguidanceInsensitive Mechanisminput constraints |
| spellingShingle | Danpeng Huang Mingjie Zhang Taideng Zhan Jianjun Ma Insensitive Mechanism-Based Nonlinear Model Predictive Guidance for UAVs Intercepting Maneuvering Targets with Input Constraints Drones Unmanned Aerial Vehicles (UAV) Nonlinear Model Predictive Control (NMPC) disturbance observer guidance Insensitive Mechanism input constraints |
| title | Insensitive Mechanism-Based Nonlinear Model Predictive Guidance for UAVs Intercepting Maneuvering Targets with Input Constraints |
| title_full | Insensitive Mechanism-Based Nonlinear Model Predictive Guidance for UAVs Intercepting Maneuvering Targets with Input Constraints |
| title_fullStr | Insensitive Mechanism-Based Nonlinear Model Predictive Guidance for UAVs Intercepting Maneuvering Targets with Input Constraints |
| title_full_unstemmed | Insensitive Mechanism-Based Nonlinear Model Predictive Guidance for UAVs Intercepting Maneuvering Targets with Input Constraints |
| title_short | Insensitive Mechanism-Based Nonlinear Model Predictive Guidance for UAVs Intercepting Maneuvering Targets with Input Constraints |
| title_sort | insensitive mechanism based nonlinear model predictive guidance for uavs intercepting maneuvering targets with input constraints |
| topic | Unmanned Aerial Vehicles (UAV) Nonlinear Model Predictive Control (NMPC) disturbance observer guidance Insensitive Mechanism input constraints |
| url | https://www.mdpi.com/2504-446X/8/11/608 |
| work_keys_str_mv | AT danpenghuang insensitivemechanismbasednonlinearmodelpredictiveguidanceforuavsinterceptingmaneuveringtargetswithinputconstraints AT mingjiezhang insensitivemechanismbasednonlinearmodelpredictiveguidanceforuavsinterceptingmaneuveringtargetswithinputconstraints AT taidengzhan insensitivemechanismbasednonlinearmodelpredictiveguidanceforuavsinterceptingmaneuveringtargetswithinputconstraints AT jianjunma insensitivemechanismbasednonlinearmodelpredictiveguidanceforuavsinterceptingmaneuveringtargetswithinputconstraints |