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Velocity-Varying Target Tracking of Mobile Sensor Network Based on Flocking Control


Existing coupled distributed estimation and motion control strategies of mobile sensor networks present limitations in velocity-varying target tracking. Therefore, a velocity-varying target tracking algorithm based on flocking control is proposed herein. The Kalman-consensus filter is utilized to estimate the position, velocity and acceleration of a target. The flocking control algorithm with a velocity-varying virtual leader enables the position of the center of the mobile sensor network to converge to that of the target. By applying an effective cascading Lyapunov method, stability analysis is performed. Simulation results are provided to validate the feasibility of the proposed algorithm.

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Author information



Corresponding author

Correspondence to Yunze Cai.

Additional information

Foundation item: the National Natural Science Foundation of China (No. 61627810), the Joint Fund of Advanced Aerospace Manufacturing Technology Research (No. 2017-JCJQ-ZQ-031), and the National Science and Technology Major Program of China (No. 2018YFB1305003)

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Zhang, L., Dong, X., Yao, L. et al. Velocity-Varying Target Tracking of Mobile Sensor Network Based on Flocking Control. J. Shanghai Jiaotong Univ. (Sci.) 26, 446–453 (2021).

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Key words

  • mobile sensor network
  • velocity-varying target tracking
  • flocking control
  • Kalman-consensus filtering

CLC number

  • TP 273

Document code

  • A