Target Tracking and Circumnavigation Control for Multi-Unmanned Aerial Vehicle Systems Using Bearing Measurements
This paper addresses the problem of target tracking and circumnavigation control for a bearing-only multi-Unmanned Aerial Vehicle (UAV) system. First, using the bearing measurements, an adaptive algorithm in the form of a Proportional Integral (PI) controller is developed to estimate the target stat...
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-08-01
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| Series: | Actuators |
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| Online Access: | https://www.mdpi.com/2076-0825/13/9/323 |
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| author | Zican Zhou Jiangping Hu Bo Chen Xixi Shen Bin Meng |
| author_facet | Zican Zhou Jiangping Hu Bo Chen Xixi Shen Bin Meng |
| author_sort | Zican Zhou |
| collection | DOAJ |
| description | This paper addresses the problem of target tracking and circumnavigation control for a bearing-only multi-Unmanned Aerial Vehicle (UAV) system. First, using the bearing measurements, an adaptive algorithm in the form of a Proportional Integral (PI) controller is developed to estimate the target state. Subsequently, a distributed circumnavigation control protocol is established to evenly encircle the target. Then, we use the local information from each UAV in the network to calculate the relative position of the target, and further enhance the accuracy of estimation and circumnavigation algorithms by employing a Kalman filter. Finally, numerical simulation experiments are conducted to validate the effectiveness of the proposed tracking control algorithm. |
| format | Article |
| id | doaj-art-21bc4482b0694fd095952ce2213efb02 |
| institution | OA Journals |
| issn | 2076-0825 |
| language | English |
| publishDate | 2024-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj-art-21bc4482b0694fd095952ce2213efb022025-08-20T01:56:01ZengMDPI AGActuators2076-08252024-08-0113932310.3390/act13090323Target Tracking and Circumnavigation Control for Multi-Unmanned Aerial Vehicle Systems Using Bearing MeasurementsZican Zhou0Jiangping Hu1Bo Chen2Xixi Shen3Bin Meng4School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu 611731, ChinaSchool of Automation Engineering, University of Electronic Science and Technology of China, Chengdu 611731, ChinaSchool of Science, Chongqing University of Posts and Telecommunications, Chongqing 400065, ChinaSchool of Automation Engineering, University of Electronic Science and Technology of China, Chengdu 611731, ChinaBeijing Institute of Control Engineering, Beijing 100080, ChinaThis paper addresses the problem of target tracking and circumnavigation control for a bearing-only multi-Unmanned Aerial Vehicle (UAV) system. First, using the bearing measurements, an adaptive algorithm in the form of a Proportional Integral (PI) controller is developed to estimate the target state. Subsequently, a distributed circumnavigation control protocol is established to evenly encircle the target. Then, we use the local information from each UAV in the network to calculate the relative position of the target, and further enhance the accuracy of estimation and circumnavigation algorithms by employing a Kalman filter. Finally, numerical simulation experiments are conducted to validate the effectiveness of the proposed tracking control algorithm.https://www.mdpi.com/2076-0825/13/9/323multi-UAV systembearing measurementtarget trackingcircumnavigation controlKalman filtering |
| spellingShingle | Zican Zhou Jiangping Hu Bo Chen Xixi Shen Bin Meng Target Tracking and Circumnavigation Control for Multi-Unmanned Aerial Vehicle Systems Using Bearing Measurements Actuators multi-UAV system bearing measurement target tracking circumnavigation control Kalman filtering |
| title | Target Tracking and Circumnavigation Control for Multi-Unmanned Aerial Vehicle Systems Using Bearing Measurements |
| title_full | Target Tracking and Circumnavigation Control for Multi-Unmanned Aerial Vehicle Systems Using Bearing Measurements |
| title_fullStr | Target Tracking and Circumnavigation Control for Multi-Unmanned Aerial Vehicle Systems Using Bearing Measurements |
| title_full_unstemmed | Target Tracking and Circumnavigation Control for Multi-Unmanned Aerial Vehicle Systems Using Bearing Measurements |
| title_short | Target Tracking and Circumnavigation Control for Multi-Unmanned Aerial Vehicle Systems Using Bearing Measurements |
| title_sort | target tracking and circumnavigation control for multi unmanned aerial vehicle systems using bearing measurements |
| topic | multi-UAV system bearing measurement target tracking circumnavigation control Kalman filtering |
| url | https://www.mdpi.com/2076-0825/13/9/323 |
| work_keys_str_mv | AT zicanzhou targettrackingandcircumnavigationcontrolformultiunmannedaerialvehiclesystemsusingbearingmeasurements AT jiangpinghu targettrackingandcircumnavigationcontrolformultiunmannedaerialvehiclesystemsusingbearingmeasurements AT bochen targettrackingandcircumnavigationcontrolformultiunmannedaerialvehiclesystemsusingbearingmeasurements AT xixishen targettrackingandcircumnavigationcontrolformultiunmannedaerialvehiclesystemsusingbearingmeasurements AT binmeng targettrackingandcircumnavigationcontrolformultiunmannedaerialvehiclesystemsusingbearingmeasurements |