Finite-Time Cooperative Stand-Off Target Tracking in the Presence of Wind.

Pallov Anand, Pranav Niturkar, A. Pedro Aguiar, Rajat Agrawal, Manav Mishra and P. B. Sujit

Abstract

In this paper, we propose a novel vector-field based guidance law for two unmanned aircrafts (UAs) to track a moving target while maintaining a desired stand-off distance under constant vehicle speed conditions in the presence of wind. The guidance law achieves finite time convergence. Since the speed of the vehicle is constant, to maintain desired phase difference between the UAs, we control the UAs desired radius to achieve the prescribed phase difference. We analyze the theoretical properties of the proposed guidance law using Lyapunov theory and evaluate the performance of the proposed guidance law through simulations and hardware experiments.