Prescribed-Time Target Enclosing and Tracking With Motion and Visibility Constraints

IF 4 3区计算机科学 Q1 COMPUTER SCIENCE, INFORMATION SYSTEMS

IEEE Systems Journal Pub Date : 2024-12-09 DOI:10.1109/JSYST.2024.3506560

Jiayi Zheng;Shulong Zhao;Xiangke Wang

引用次数: 0

Abstract

This article investigates a prescribed-time method for multiple fixed-wing autonomous aerial vehicles (AAVs) to enclose and track a moving target based on relative measurements. Utilizing onboard sensors brings two main challenges, i.e., maintaining the target within the field-of-view and tracking a noncooperative target with limited information. To this end, a prescribed-time enclosing and tracking controller is proposed first, guaranteeing that multiple fixed-wing AAVs converge to the desired trajectories within a prescribed time subject to motion and visibility constraints. Then, considering the dilemma of the input saturation and prescribed-time convergence, a basis for selecting the proper prescribed time is analyzed by mathematical formulations. It is determined by different initial states and constraints rather than arbitrarily. Finally, comparison and simulation results verify the effectiveness of the proposed method within a prescribed time.

查看原文本刊更多论文

带有运动和可见性约束的规定时间目标封闭和跟踪

本文研究了一种基于相对测量的多架固定翼自主飞行器（aav）对运动目标进行围护和跟踪的规定时间方法。利用机载传感器带来了两个主要挑战，即保持目标在视场内以及在有限信息下跟踪非合作目标。为此，首先提出了一种定时封闭跟踪控制器，保证多架固定翼无人机在运动和可见性约束下在规定时间内收敛到期望轨迹；然后，考虑到输入饱和和规定时间收敛的困境，用数学公式分析了选择适当规定时间的依据。它是由不同的初始状态和约束决定的，而不是任意的。最后，对比和仿真结果验证了该方法在规定时间内的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

IEEE Systems Journal 工程技术-电信学

CiteScore

9.80

自引率

6.80%

发文量

572

审稿时长

4.9 months

期刊介绍： This publication provides a systems-level, focused forum for application-oriented manuscripts that address complex systems and system-of-systems of national and global significance. It intends to encourage and facilitate cooperation and interaction among IEEE Societies with systems-level and systems engineering interest, and to attract non-IEEE contributors and readers from around the globe. Our IEEE Systems Council job is to address issues in new ways that are not solvable in the domains of the existing IEEE or other societies or global organizations. These problems do not fit within traditional hierarchical boundaries. For example, disaster response such as that triggered by Hurricane Katrina, tsunamis, or current volcanic eruptions is not solvable by pure engineering solutions. We need to think about changing and enlarging the paradigm to include systems issues.