《信息与电子工程前沿（英文）》
>> 2020年
第21卷
第10期
doi:
10.1631/FITEE.1900617
Multi-UAV cooperative target tracking with bounded noise for connectivity preservation
Affiliation(s): School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China; National Innovation Institute of Defense Technology, Academy of Military Sciences PLA China, Beijing 100171, China; CETC Key Laboratory of Aerospace Information Applications, Shijiazhuang 050081, China; less
收稿日期：
2019-11-12
录用日期：
2020-10-14
发布日期：
2020-10-14
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摘要
We investigate cooperative target tracking of multiple unmanned aerial vehicles (UAVs) with a limited communication range. This is an integration of UAV motion control, target state estimation, and network topology control. We first present the communication topology and basic notations for , and introduce the distributed . Then, convergence and boundedness of the estimation errors using the filter are analyzed, and potential functions are proposed for communication link maintenance and collision avoidance. By taking stable target tracking into account, a distributed potential function based UAV motion controller is discussed. Since only the estimation of the target state rather than the state itself is available for UAV motion control and UAV motion can also affect the accuracy of state estimation, it is clear that the UAV motion control and target state estimation are coupled. Finally, the stability and convergence properties of the coupled system under are analyzed in detail and demonstrated by simulations.
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