Cooperative Target Tracking of Multiple Autonomous Surface Vehicles Under Switching Interaction Topologies
文献类型：期刊论文
| 作者 | Lang Ma; Yu-Long Wang; Qing-Long Han |
| 刊名 | IEEE/CAA Journal of Automatica Sinica
 |
| 出版日期 | 2023 |
| 卷号 | 10期号:3页码:673-684 |
| 关键词 | Autonomous surface vehicles (ASVs) cooperative target tracking distributed extended state observer switching topologies |
| ISSN号 | 2329-9266 |
| DOI | 10.1109/JAS.2022.105509 |
| 英文摘要 | This paper is concerned with the cooperative target tracking of multiple autonomous surface vehicles (ASVs) under switching interaction topologies. For the target to be tracked, only its position can be measured/received by some of the ASVs, and its velocity is unavailable to all the ASVs. A distributed extended state observer taking into consideration switching topologies is designed to integrally estimate unknown target dynamics and neighboring ASVs’ dynamics. Accordingly, a novel kinematic controller is designed, which takes full advantage of known information and avoids the approximation of some virtual control vectors. Moreover, a disturbance observer is presented to estimate unknown time-varying environmental disturbance. Furthermore, a distributed dynamic controller is designed to regulate the involved ASVs to cooperatively track the target. It enables each ASV to adjust its forces and moments according to the received information from its neighbors. The effectiveness of the derived results is demonstrated through cooperative target tracking performance analysis for a tracking system composed of five interacting ASVs. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/51180]  |
| 专题 | 自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica |
| 推荐引用方式 GB/T 7714 | Lang Ma,Yu-Long Wang,Qing-Long Han. Cooperative Target Tracking of Multiple Autonomous Surface Vehicles Under Switching Interaction Topologies[J]. IEEE/CAA Journal of Automatica Sinica,2023,10(3):673-684. |
| APA | Lang Ma,Yu-Long Wang,&Qing-Long Han.(2023).Cooperative Target Tracking of Multiple Autonomous Surface Vehicles Under Switching Interaction Topologies.IEEE/CAA Journal of Automatica Sinica,10(3),673-684. |
| MLA | Lang Ma,et al."Cooperative Target Tracking of Multiple Autonomous Surface Vehicles Under Switching Interaction Topologies".IEEE/CAA Journal of Automatica Sinica 10.3(2023):673-684. |
入库方式： OAI收割
来源：自动化研究所
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