DISTRIBUTED TRACKING OF MANEUVERING TARGET: A FINITE-TIME ALGORITHM

This paper presents a novel distributed algorithm for tracking a highly maneuvering target using bearing or direction of arrival measurements. The proposed approach is built on the dynamic average-consensus algorithm, which allows a networked group of agents (nodes) to reach consensus on the global average of a set of local time-varying signals in a distributed fashion. Since the average-consensus error corresponding to the presented dynamic average-consensus algorithm converges to zero in finite time, the proposed distributed algorithm guarantees that the tracking error converges to zero in finite time. Numerical simulations are provided to illustrate the effectiveness of the proposed algorithm.