Interception guidance and control algorithm for quadrotor unmanned aerial vehicle (UAV) against maneuvering targets

The paper investigates the interception guidance and control algorithm of a quadrotor unmanned aerial vehicle (UAV) against a maneuvering target. Firstly, the UAV's interception of an unknown maneuvering target is modeled as a zero-sum game problem, and the guidance rate of the UAV is detailedly derived based on differential game theory. Then, addressing the coupling problem of UAV's translational and rotational motion, the expected attitude angle is obtained from the expected acceleration derived from differential game theory. The attitude tracking control rate is then derived from sliding mode control theory, and the asymptotic tracking of reference attitude by the control rate is proven. Through simulation experiments of different maneuvering modes of the target, it is verified that effectiveness of interception guidance and control algorithm based on differential game theory and sliding mode control theory can realize effective interception without prior knowledge of target`s moving tendency. Finally, a summary and prospects for future work are provided in conclusion.