Target Tracking and Circumnavigation Control for Multi-Unmanned Aerial Vehicle Systems Using Bearing Measurements

被引：1

作者：

Zhou, Zican ^{[1
]}

Hu, Jiangping ^{[1
,2
]}

Chen, Bo ^{[3
]}

Shen, Xixi ^{[1
]}

Meng, Bin ^{[4
]}

机构：

[1] Univ Elect Sci & Technol China, Sch Automat Engn, Chengdu 611731, Peoples R China

[2] Univ Elect Sci & Technol China, Yangtze Delta Reg Inst Huzhou, Huzhou 313000, Peoples R China

[3] Chongqing Univ Posts & Telecommun, Sch Sci, Chongqing 400065, Peoples R China

[4] Beijing Inst Control Engn, Beijing 100080, Peoples R China

来源：

ACTUATORS | 2024年 / 13卷 / 09期

基金：

中国国家自然科学基金;

关键词：

multi-UAV system; bearing measurement; target tracking; circumnavigation control; Kalman filtering; LOCALIZATION;

D O I：

10.3390/act13090323

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper addresses the problem of target tracking and circumnavigation control for a bearing-only multi-Unmanned Aerial Vehicle (UAV) system. First, using the bearing measurements, an adaptive algorithm in the form of a Proportional Integral (PI) controller is developed to estimate the target state. Subsequently, a distributed circumnavigation control protocol is established to evenly encircle the target. Then, we use the local information from each UAV in the network to calculate the relative position of the target, and further enhance the accuracy of estimation and circumnavigation algorithms by employing a Kalman filter. Finally, numerical simulation experiments are conducted to validate the effectiveness of the proposed tracking control algorithm.

引用

页数：19

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