Cooperative target tracking by multiple unmanned surface vehicles subject to model uncertainties
GAO Sheng-nan
PENG Zhou-hua
WANG Dan
LI Tie-shan
Abstract：For the multiple unmanned surface vehicle system with incomplete sensing information,the model parameters uncertainty,and the marine environment disturbance,a distributed hierarchical cooperative target estimation and tracking control structure is proposed.At the communication level,a distributed extended state observer based on the unidirectional communication topology is designed.The speed and location of noncooperative target are estimated.At the control level,a reduced-order extended state observer requiring only relative distance is designed,while not only realizes the synchronous estimation of the unknown dynamic uncertainty,but also simplifies the structure of the observer.In this paper,an anti-disturbance position tracking control law based on the reduced-order extended state observer is designed to improve the anti-interference ability of the cooperative target tracking control system is improved.The input-to-state stability of the closed-loop system is analyzed via cascade theory.Besides,the tracking errors are uniformly ultimately bounded.Simulations verify the effectiveness of the proposed control method.
Keywords：unmanned surface vehiclesdistributed extended state observercooperative target trackingantidisturbance control
Publication Date：2023-12-28
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：11( 2198-2208 )