摘要
Existing coupled distributed estimation and motion control strategies of mobile sensor networks present limitations in velocity-varying target tracking. Therefore, a velocity-varying target tracking algorithm based on flocking control is proposed herein. The Kalman-consensus filter is utilized to estimate the position, velocity and acceleration of a target. The flocking control algorithm with a velocity-varying virtual leader enables the position of the center of the mobile sensor network to converge to that of the target. By applying an effective cascading Lyapunov method, stability analysis is performed. Simulation results are provided to validate the feasibility of the proposed algorithm.
作者
章露露
董祥祥
姚莉秀
蔡云泽
ZHANG Lalu;Xiangxiang Dong;YAO Lixiu;CAI Yunze(Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education,Shanghai Jiao Tong University,Shanghai,200240,China;Department of Automation,Shanghai Jiao Tong University,Shanghai,200240,China;Key Laboratory of System Control and Information Processing of Ministry of Education,Shanghai Jiao Tong University,Shanghai,200240,China)
基金
the National Natural Science Foundation of China(No.61627810)
the Joint Fund of Advanced Aerospace Manufacturing Technology Research(No.2017-JCJQ-ZQ-031)
the National Science and Technology Major Program of China(No.2018YFB1305003)。
