Time-varying formation tracking control for multi-agent systems using distributed multi-sensor multi-target filtering

被引:2
作者
Qi, Jialin [1 ]
Zhang, Zheng [1 ]
Dong, Xiwang [1 ,2 ]
Yu, Jianglong [1 ,3 ]
Li, Qingdong [1 ]
Jiang, Hong [1 ]
Ren, Zhang [1 ]
机构
[1] Beihang Univ, Sch Automat Sci & Elect Engn, Sci & Technol Aircraft Control Lab, Beijing 100191, Peoples R China
[2] Beihang Univ, Inst Artificial Intelligence, Beijing 100191, Peoples R China
[3] Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China
来源
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS | 2024年 / 361卷 / 03期
基金
北京市自然科学基金; 中国国家自然科学基金;
关键词
Time-varying formation; Formation tracking; Distributed multi-sensor multi-target filtering; Cubature Kalman filter; TARGET; CONSENSUS; AVERAGE;
D O I
10.1016/j.jfranklin.2024.01.015
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
Time -varying formation tracking control issues for multi -agent systems are investigated based on the distributed multi -sensor multi -target filtering algorithm. In order to estimate the states of targets, a distributed multi -sensor multi -target filtering algorithm based on cubature Kalman filtering is investigated. Subsequently, the state estimations calculated by the filtering algorithm are used to design a time -varying formation tracking protocol for multi -agent systems, enabling the agents to form a time -varying formation and track the convex combination of uncooperative targets. The estimation errors of the filtering algorithm are proved to be bounded in mean square by introducing a stochastic process and the boundedness of the formation tracking errors is further proved. Simulation results illustrates the effectiveness of the proposed algorithm and protocol.
引用
收藏
页码:1510 / 1523
页数:14
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