Cooperative target tracking by multiple unmanned surface vehicles subject to model uncertainties

被引：0
|
作者：
Gao S.-N. [1 ,2 ]
Peng Z.-H. [1 ,4 ]
Wang D. [1 ]
Li T.-S. [3 ]
机构：
[1] School of Marine Electrical Engineering, Dalian Maritime University, Liaoning, Dalian
[2] School of Electrical and Control Engineering, North China University of Technology, Beijing
[3] School of Automation Engineering, University of Electronic Science and Technology, Sichuan, Chengdu
[4] State Key Laboratory of Maritime Technology and Safety, Liaoning, Dalian
来源：
Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2023年 / 40卷 / 12期
基金：
中国国家自然科学基金;
关键词：
antidisturbance control; cooperative target tracking; distributed extended state observer; unmanned surface vehicles;
D O I：
10.7641/CTA.2023.30229
中图分类号：
学科分类号：
摘要：
For the multiple unmanned surface vehicle system with incomplete sensing information, the model parameters uncertainty, and the marine environment disturbance, a distributed hierarchical cooperative target estimation and tracking control structure is proposed. At the communication level, a distributed extended state observer based on the unidirectional communication topology is designed. The speed and location of noncooperative target are estimated. At the control level, a reduced-order extended state observer requiring only relative distance is designed, while not only realizes the synchronous estimation of the unknown dynamic uncertainty, but also simplifies the structure of the observer. In this paper, an anti-disturbance position tracking control law based on the reduced-order extended state observer is designed to improve the anti-interference ability of the cooperative target tracking control system is improved. The input-to-state stability of the closed-loop system is analyzed via cascade theory. Besides, the tracking errors are uniformly ultimately bounded. Simulations verify the effectiveness of the proposed control method. © 2023 South China University of Technology. All rights reserved.
引用
收藏
页码：2198 / 2208
页数：10
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