On fixed⁃time multi⁃target localization and circumnavigation control using bearing measurements

被引：0
|
作者：
Hu J.-P. [1 ,2 ]
Zhou Z.-C. [1 ]
Chen B. [1 ]
机构：
[1] School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu
[2] Yangtze Delta Region Institute（Huzhou）, University of Electronic Science and Technology of China, Huzhou
来源：
Jilin Daxue Xuebao (Gongxueban)/Journal of Jilin University (Engineering and Technology Edition) | 2023年 / 53卷 / 03期
关键词：
bearing measurement; circumnavigation control; distributed estimation and localization; fixed-time control; multi-UAV formation;
D O I：
10.13229/j.cnki.jdxbgxb20221166
中图分类号：
V27 [各类型航空器];
学科分类号：
082503 ;
摘要：
For circumnavigation control of a multi-UAV system with multiple static targets was proposed bearing measurement based target localization and circumnavigation control algorithms to ensure that the multi-UAV system can realize the target localization and circumnavigation in fixed time. First，A bearing measurement based fixed-time target localization algorithm was designed for the leader-UAV to compute the position of each target，and a fixed-time observer was proposed for each follower-UAV to estimate the targets' center and the position of the leader-UAV. Then，a distributed fixed-time circumnavigation control algorithm was designed for the multi-UAV system to ensure the system realize a uniformly distributed circumnavigation of the multiple targets. Finally，numerical simulation experiment verifies the effectiveness of the proposed circumnavigation control algorithm. © 2023 Editorial Board of Jilin University. All rights reserved.
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收藏
页码：923 / 932
页数：9
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