Skip to main content
SpringerLink
Log in

Decentralised Standoff Tracking of Moving Targets Using Adaptive Sliding Mode Control for UAVs

  • Published:
Journal of Intelligent & Robotic Systems Aims and scope Submit manuscript

Abstract

This paper proposes a decentralised vector field guidance algorithm for coordinated standoff tracking of a ground moving target by multiple UAVs. In particular, this study introduces additional adaptive terms in an existing sliding mode control concept for standoff tracking guidance, in order to reduce the effect of unmodelled dynamics and disturbances. Decentralised angular separation control between UAVs, in conjunction with decentralised estimation, is also introduced using either velocity or orbit radius change by different information/communication structures. Numerical simulations are performed to verify the feasibility and benefits of the proposed approach under a realistic ground vehicle tracking scenario, using multiple UAVs having unknown parameters in the heading-hold autopilot.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. Kim, M., Kim, Y.: Multiple UAVs nonlinear guidance laws for stationary target observation with waypoint incidence angle constraint. Int. J. Aero. Space Sci. 14(1), 67–74 (2013)

    Google Scholar 

  2. Frew, E.W.: Sensitivity of cooperative target geolocalization to orbit coordination. J. Guid. Control Dyn. 31(4), 1028–1040 (2008)

    Article  Google Scholar 

  3. Kim, J., Kim, Y.: Moving ground target tracking in dense obstacle areas using UAVs. In: IFAC World Congress. COEX, South Korea (2008)

    Google Scholar 

  4. Lawrence, D.A.: Lyapunov vector fields for UAV flock coordination. In: 2nd AIAA Unmanned Unlimited Conference, Workshop, and Exhibit. Reston, VA, USA (2003)

    Google Scholar 

  5. Frew, E.W., Lawrence, D.A., Morris, S.: Coordinated standoff tracking of moving targets using lyapunov guidance vector fields. J. Guid. Control Dyn. 31(2), 290–306 (2008)

    Article  Google Scholar 

  6. Summers, T.H., Akella, M.R., Mears, M.J.: Coordinated standoff tracking of moving targets: control laws and information architectures. J. Guid. Control Dyn. 32(1), 56–69 (2009)

    Article  Google Scholar 

  7. Kim, S., Oh, H., Tsourdos, A.: Nonlinear model predictive coordinated standoff tracking of moving ground vehicle. J. Guid. Control Dyn. 36(2), 557–566 (2013)

    Article  Google Scholar 

  8. Oh, H., Kim, S., Shin, H.S., White, B.A., Tsourdos, A., Rabbath, C.A.: Rendezvous and standoff target tracking guidance using differential geometry. J. Intell. Robot. Syst. 69, 389–405 (2013)

    Article  Google Scholar 

  9. Oh, H., Kim, S., Shin, H.-S., Tsourdos, A., White, B.: Coordinated standoff tracking of groups of moving targets using multiple UAVs. In: 21st Mediterranean Conference on Control and Automation. Crete, Greece (2013)

  10. Kingston, D., Beard, R.: UAV spaly state configuration for moving targets in wind. Lect. Notes Control Inf. 369, 109–128 (2007)

    MathSciNet  Google Scholar 

  11. Sepulchre, R., Paley, D.A., Leonard, N.E.: Stabilization of planar collective motion: all-to-all communication. IEEE Trans. Autom. Control 52(5), 811–824 (2007)

    Article  MathSciNet  Google Scholar 

  12. Paley, D.A., Leonard, N.E., Sepulchre, R.: Stabilization of symmetric formations to motion around convex loops. Syst. Control Lett. 57, 209–215 (2008)

    Article  MathSciNet  MATH  Google Scholar 

  13. Quigley, M., Goodrich, M.A., Griffiths, S., Eldredge, A., Beard, R.W.: Target acquisition, localisation, and surveillance using a fixed-wing mini-UAV and gimbaled camera. In: IEEE International Conference on Robotics and Automation. Barcelona, Spain (2005)

  14. Marsden, J.E., McCracken, M.: The Hopf Bifurcation and its Applications. Applied Mathematical Sciences, vol 19. Springer-Verlag (1976)

  15. Krstic, M., Kanellakopoulos, I., Kokotovic, P.V. et al.: Nonlinear and Adaptive Control Design, vol. 8. John Wiley & Sons New York (1995)

    Google Scholar 

  16. Koch, W., Koller, J., Ulmke, M.: Ground target tracking and road map extraction. ISPRS J. Photogramm. Remote. Sens. 61, 197–208 (2006)

    Article  Google Scholar 

  17. Mutambara, A.G.O.: Decentralized Estimation and Control for Multisensor Systems. CRC Press LLC, Boca Raton, Florida (1998)

    MATH  Google Scholar 

  18. Oh, H., Kim, S., Tsourdos, A., White, B.A.: Decentralised road-map assisted ground target tracking using a team of UAVs. In: 9th IET Data Fusion & Target Tracking. London, UK (2012)

  19. Mehrotra, K., Mahapatra, P.R.: A jerk model for tracking highly maneuvering targets. IEEE Trans. Aerosp. Electron. Syst. 33(4), 1094–1105 (1997)

    Article  Google Scholar 

  20. Ren, W., Beard, R.W., Atkins, E.M.: A survey of consensus problems in multi-agent coordination. In: American Control Conference. Portland, OR, USA (2005)

  21. SIAS Limited. S-paramics Software. http://www.sias.com (2011). Accessed 1 Jan 2011

Download references

Author information

Authors and Affiliations

  1. Department of Computing, University of Surrey, Guildford, Surrey, GU2 7XH, UK

    Hyondong Oh

  2. Department of Aerospace Engineering, Chungnam National University, 99 Daehak-ro, Yuseong-gu, Daejeon, 305-764, Republic of Korea

    Seungkeun Kim

  3. Department of Engineering Physics, Cranfield University, Cranfield, MK43 0AL, UK

    Antonios Tsourdos & Brian A. White

Authors
  1. Hyondong Oh
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Seungkeun Kim
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Antonios Tsourdos
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Brian A. White
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Seungkeun Kim.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Oh, H., Kim, S., Tsourdos, A. et al. Decentralised Standoff Tracking of Moving Targets Using Adaptive Sliding Mode Control for UAVs. J Intell Robot Syst 76, 169–183 (2014). https://doi.org/10.1007/s10846-013-9864-0

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s10846-013-9864-0

Keywords

Search

Navigation