网络拓扑
控制理论(社会学)
跟踪(教育)
运动学
控制器(灌溉)
计算机科学
观察员(物理)
拓扑(电路)
控制(管理)
工程类
人工智能
物理
生物
电气工程
农学
操作系统
经典力学
量子力学
教育学
心理学
作者
Lixiang Ma,Yulong Wang,Qing‐Long Han
出处
期刊:IEEE/CAA Journal of Automatica Sinica
[Institute of Electrical and Electronics Engineers]
日期:2023-03-01
卷期号:10 (3): 673-684
被引量:19
标识
DOI:10.1109/jas.2022.105509
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.
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