CLC number: TN953; TP391.41
On-line Access: 2020-10-14
Received: 2019-11-12
Revision Accepted: 2020-01-03
Crosschecked: 2020-07-28
Cited: 0
Clicked: 4973
Citations: Bibtex RefMan EndNote GB/T7714
Rui Zhou, Yu Feng, Bin Di, Jiang Zhao, Yan Hu. Multi-UAV cooperative target tracking with bounded noise for connectivity preservation[J]. Frontiers of Information Technology & Electronic Engineering,in press.https://doi.org/10.1631/FITEE.1900617 @article{title="Multi-UAV cooperative target tracking with bounded noise for connectivity preservation", %0 Journal Article TY - JOUR
有界噪声下保通信连接的多无人机分布式协同目标跟踪1北京航空航天大学自动化科学与电气工程学院,中国北京市,100191 2中国人民解放军军事科学院国防科技创新研究院,中国北京市,100171 3中国电子科技集团有限公司航空航天信息应用重点实验室,中国石家庄市,050081 摘要:本文研究通信距离受限的多无人机协同目标跟踪问题。该问题集成了无人机运动控制、目标状态估计和网络拓扑控制。首先,介绍用于描述网络连通性的通信拓扑和基本符号,以及分布式卡尔曼一致性滤波器。其次,分析基于滤波器的估计误差收敛性和有界性,采用势函数方法实现通信连接保持和防撞控制。在考虑稳定跟踪的基础上,设计基于势函数的分布式无人机运动控制器。由于无人机仅能获得目标状态的估计值而非真实值,且其运动也会影响状态估计精度,因此目标状态估计与无人机运动控制是耦合的。最后,详细分析耦合系统在有界噪声下的稳定性和收敛性,并进行仿真验证。 关键词组: Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article
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