Performance-Optimize Adaptive Robust Tracking Control for USV-UAV Heterogeneous Systems With Uncertainty

This paper investigates the performance-optimized tracking control problem of the heterogeneous system consisting of the unmanned surface vehicle (USV) and the unmanned aerial vehicle (UAV) under uncertain dynamics. Based on the target tracking strategy, a performance optimization control framework for cooperative tracking in sea-air 3D space is established. To avoid the singularity of the UAV in the position loop inverse solution of the desired attitude, the saturation control strategy is designed to solve the UAV guidance problem, and the UAV position loop obtains bounded thrust. For the kinematic layer of the USV-UAV system, based on the prescribed performance control and optimal control methods, a prescribed performance-optimized control strategy is designed to optimize the virtual control input while ensuring the prescribed control performance. In addition, to reduce the impact of uncertainty on the USV-UAV control system, a prescribed performance compensation control scheme is proposed in the kinetic loop, which improves the USV-UAV control system robustness. The established sea-air 3D cooperative target tracking control framework can also be extended to complex formation control. Finally, experimental simulations verify the effectiveness of the designed control scheme.