Cooperative tracking in camera sensor networks with sliding mode control

被引：1
|
作者：
Kameoka, Yoshihiro [1 ]
Hayashi, Naoki [2 ]
Takai, Shigemasa [1 ]
机构：
[1] Osaka Univ, Grad Sch Engn, Suita, Osaka, Japan
[2] Osaka Univ, Grad Sch Engn Sci, Toyonaka, Osaka 5608531, Japan
来源：
ADVANCED ROBOTICS | 2023年 / 37卷 / 1-2期
关键词：
Multi-agent system; cooperative control; sliding mode control; camera sensor network; COVERAGE CONTROL; MULTIAGENT SYSTEMS; CONSENSUS;
D O I：
10.1080/01691864.2022.2119885
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This paper presents robust cooperative tracking control in camera sensor networks. We consider a camera sensor network with a Pan-Tilt (PT) mechanism whose dynamics is expressed as the Euler-Lagrange equation. We propose a distributed control law based on sliding mode control to achieve cooperative target tracking. The stability of the closed-loop system is conducted by Lyapunov's stability theory considering discontinuities of the control input. We also verify the effectiveness of the proposed method with a numerical example of synchronization of a PT camera sensor network under external disturbance.
引用
收藏
页码：130 / 140
页数：11
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