Abstract
This chapter is concerned with the cooperative target tracking of multiple UMVs under switching network topologies. For the target to be tracked, only its position can be measured/received by some of the UMVs, and its velocity is unavailable to all the UMVs. A distributed extended state observer considering switching topologies is designed to integrally estimate unknown target dynamics and neighboring UMVs’ dynamics. Accordingly, a novel kinematic controller is designed, which takes full advantage of known information and avoids the approximation of some virtual control vectors. Moreover, a disturbance observer is presented to estimate unknown time-varying environmental disturbances. Furthermore, a distributed dynamic controller is designed to regulate the involved UMVs to cooperatively track the target.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Q. Song, F. Liu, J. Cao, W. Yu, M-matrix strategies for pinning-controlled leader-following consensus in multiagent systems with non-linear dynamics. IEEE Trans. Cybern. 43(6), 1688–1697 (2013)
T.I. Fossen, Handbook of Marine Craft Hydrodynamics and Motion Control (Wiley, Chichester, U.K., 2011)
L. Liu, D. Wang, Z. Peng, C.L.P. Chen, T. Li, Bounded neural network control for target tracking of underactuated autonomous surface vehicles in the presence of uncertain target dynamics. IEEE Trans. Neural Netw. Learn. Syst. 30(4), 1241–1249 (2019)
Y. Yang, J. Du, H. Liu, C. Guo, A. Abraham, A trajectory tracking robust controller of surface vessels with disturbance uncertainties. IEEE Trans. Control Syst. Technol. 22(4), 1511–1518 (2014)
S. Dai, S. He, M. Wang, C. Yuan, Adaptive neural control of underactuated surface vessels with prescribed performance guarantees. IEEE Trans. Neural Netw. Learn. Syst. 30(12), 3686–3698 (2019)
L. Ma, Y.-L. Wang, Q.-L. Han, Event-triggered dynamic positioning for mass-switched unmanned marine vehicles in network environments. IEEE Trans. Cybern. 52(5), 3159–3171 (2022)
J.P. Hespanha, A.S. Morse, Stability of switched systems with average dwell-time, in Proceedings of the 38th IEEE Conference on Decision and Control, Phoenix, USA, Dec. 1999, pp. 2655–2660
R. Cui, S.S. Ge, B.V.E. How, Y.S. Choo, Leader-follower formation control of underactuated autonomous underwater vehicles. Ocean Eng. 37(17–18), 1491–1502 (2010)
L. Zou, Z. Wang, J. Hu, D. Zhou, Moving horizon estimation with unknown inputs under dynamic quantization effects. IEEE Trans. Autom. Control 65(12), 5368–5375 (2020)
L. Zou, Z. Wang, J. Hu, H. Dong, Ultimately bounded filtering subject to impulsive measurement outliers. IEEE Trans. Autom. Control 67(1), 304–319 (2022)
L. Zou, Z. Wang, Q.-L. Han, D. Yue, Tracking control under round-robin scheduling: handling impulsive transmission outliers. IEEE Trans. Cybern. 53(4), 2288–2300 (2023)
R. Skjetne, T.I. Fossen, P.V. Kokotović, Adaptive maneuvering, with experiments, for a model ship in a marine control laboratory. Automatica 41(2), 289–298 (2005)
S. Gao, Z. Peng, L. Liu, H. Wang, D. Wang, Coordinated target tracking by multiple unmanned surface vehicles with communication delays based on a distributed event-triggered extended state observer. Ocean Eng. 227, Article no. 108283 (2021)
Z. Peng, J. Wang, D. Wang, Q.-L. Han, An overview of recent advances in coordinated control of multiple autonomous surface vehicles. IEEE Trans. Ind. Inf. 17(2), 732–745 (2021)
O. Elhaki, K. Shojaei, Neural network-based target tracking control of underactuated autonomous underwater vehicles with a prescribed performance. Ocean Eng. 167, 239–256 (2018)
O. Namaki-Shoushtari, A.P. Aguiar, A. Khaki-Sedigh, Target tracking of autonomous robotic vehicles using range-only measurements: a switched logic-based control strategy. Int. J. Robust Nonlinear Control 22(17), 1983–1998 (2011)
K. Shojaei, Three-dimensional neural network tracking control of a moving target by underactuated autonomous underwater vehicles. Neural Comput. Appl. 31, 509–521 (2019)
K. Choi, S.J. Yoo, J.B. Park, Y.H. Choi, Adaptive formation control in absence of leader’s velocity information. IET Control Theory Appl. 4(4), 521–528 (2010)
Z. Peng, D. Wang, Robust adaptive formation control of autonomous surface vehicles with uncertain dynamics. IET Control Theory Appl. 5(12), 1378–1387 (2011)
L. Ma, Y.-L. Wang, Q.-L. Han, Cooperative target tracking of multiple autonomous surface vehicles under switching interaction topologies. IEEE/CAA J. Automatica Sinica. 10(3), 673–684 (2023)
C. Gao, Z. Wang, X. He, D. Yue, Sampled-data-based fault-tolerant consensus control for multi-agent systems: a data privacy preserving scheme. Automatica 133, Article no. 109847 (2021)
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
Copyright information
© 2023 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this chapter
Cite this chapter
Wang, YL., Han, QL., Peng, C., Ma, L. (2023). Cooperative Target Tracking of Multiple UMVs Under Switching Topologies. In: Network-Based Control of Unmanned Marine Vehicles. Springer, Cham. https://doi.org/10.1007/978-3-031-28605-6_9
Download citation
DOI: https://doi.org/10.1007/978-3-031-28605-6_9
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-031-28604-9
Online ISBN: 978-3-031-28605-6
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)