Target tracking of autonomous robotic vehicles using range‐only measurements: a switched logic‐based control strategy

Namaki-Shoushtari, O.; Aguiar, A. Pedro; Khaki‐Sedigh, Ali

doi:10.1002/rnc.1806

Cited by 27 publications

(11 citation statements)

References 26 publications

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“…Recently, advanced motion control of marine vehicles has received significant attention due to its wide applications in hydrological monitoring, channel exclusion, search and rescue, biological detection, and so on [1][2][3][4][5][6][7]. Numerous motion control scenarios of marine vehicles have been considered including path following [8][9][10][11][12][13][14][15][16][17][18][19][20][21], path tracking [22,23], trajectory tracking [4,[24][25][26], and target tracking [2,[27][28][29][30][31][32][33][34]. Target tracking is to track a maneuvering target where no information about the target behavior is known in advance except its instantaneous motion.…”

Section: Introductionmentioning

confidence: 99%

Extended‐State‐Observer‐Based Collision‐Free Guidance Law for Target Tracking of Autonomous Surface Vehicles with Unknown Target Dynamics

2018

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This paper is concerned with the target tracking problem of an autonomous surface vehicle in the presence of a maneuvering target. The velocity information of target is totally unknown to the follower vehicle, and only the relative distance and angle between the target and follower are obtained. First, a reduced-order extended state observer is used to estimate the unknown relative dynamics due to the unavailable velocity of the target. Based on the reduced-order extended state observer, an antidisturbance guidance law for target tracking is designed. The input-to-state stability of the closed-loop target tracking guidance system is analyzed via cascade theory. Furthermore, the above result is extended to the case that collisions between the target and leader are avoided during tracking, and a collision-free target tracking guidance law is developed. The main feature of the proposed guidance law is twofold. First, the target tracking can be achieved without using the velocity information of the target. Second, collision avoidance can be achieved during target tracking. Simulation results show the effectiveness of the proposed antidisturbance guidance law for tracking a maneuvering target with the arbitrary bounded velocity.

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Section: Introductionmentioning

confidence: 99%

Extended‐State‐Observer‐Based Collision‐Free Guidance Law for Target Tracking of Autonomous Surface Vehicles with Unknown Target Dynamics

2018

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“…To face this problem, [4,9] propose solutions based on suitable maneuvers designed to keep the state of the target vehicle observable are performed. Although, with this type of strategies, it may be difficult to asses the quality of the overall estimate obtained during the all vehicle trajectory, moreover the resulting system may result in artificial closed loop position trajectories.…”

Section: Introductionmentioning

confidence: 99%

Optimization Based Control for Target Estimation and Tracking via Highly Observable Trajectories

Alessandretti

Aguiar

Jones

2015

Lecture Notes in Electrical Engineering

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Abstract. This paper proposes a Model Predictive Control (MPC) scheme to solve the target estimation and tracking problem. The objective is to derive a feedback law that drives a follower vehicle to a target vehicle using an on-line estimate of the target's state. In this scenario, when the target is observed through a nonlinear observation model, e.g., bearing only or range only sensors, it is possible to show that solving the tracking problem independently from the estimation problem can lead to an unsatisfactory result where the follower-target system is driven by the controller through unobservable or weakly observable trajectories and, as result, the state of the target vehicle cannot be recovered or cannot be recovered with high accuracy leading to the failure of the control strategy. In this paper, we propose an optimization based scheme that embeds, in a seamless way, an index of observability in the design of the target tracking controller resulting in a closed loop behavior that balances the objective of target tracking with the competing objective of maintaining a good estimate of the state of the target. Numerical results are presented that illustrate this type of behavior.

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“…As main advantage, as shown in a numerical example, by only enforcing ultimate boundedness, the proposed scheme allows, for instance, periodic behaviors that naturally arise in many economic problems. This approach is suitable for a variety practical applications where the compromise between economic optimization and convergence to a predefined steady-state corresponds with the desired behaviour (see the motivating works [24], [10], [1], [25]). Moreover, by introducing the stabilizing stage cost, neither the assumption of the dissipativity of the system, e.g, [13], [11], [7], [8], [15], [5], nor constraints on the decrease of the terminal cost, [12], [23], are required.…”

Section: Introductionmentioning

confidence: 99%

A Model predictive control scheme with ultimate bound for economic optimization

Alessandretti

Aguiar

Jones

2015

2015 American Control Conference (ACC)

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Abstract-This paper presents a Model Predictive Control (MPC) scheme for nonlinear continuous-time systems where an economic stage cost, which is not a measure of the distance to a desired set point, is combined with a classic stabilizing stage cost. The associated control strategy leads to a closedloop behavior that compromises, in a seamless way, between the convergence of the closed-loop state trajectory to a given steadystate and the minimization of the economic cost. More precisely, we derive a set of sufficient conditions under which the closedloop state trajectory is ultimately bounded around the desired steady-state, with the size of the bound being proportional to the strength of the economic cost. Numerical results show the effectiveness of the proposed scheme on a target estimation and tracking control problem.

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Target tracking of autonomous robotic vehicles using range‐only measurements: a switched logic‐based control strategy

Cited by 27 publications

References 26 publications

Extended‐State‐Observer‐Based Collision‐Free Guidance Law for Target Tracking of Autonomous Surface Vehicles with Unknown Target Dynamics

Extended‐State‐Observer‐Based Collision‐Free Guidance Law for Target Tracking of Autonomous Surface Vehicles with Unknown Target Dynamics

Optimization Based Control for Target Estimation and Tracking via Highly Observable Trajectories

A Model predictive control scheme with ultimate bound for economic optimization

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