This paper develops a cooperative controller for multiple Unmanned Aerial Vehicles (UAVs) with application to target tracking. The cooperation between the UAVs is established based on an algebraic graph connection and the target information is provided externally by pinning it into a subset of the network. A backstepping-like technique is employed to design a consensus-based controller for each UAV in order to achieve target tracking in 3-D. The proposed controller computes commanded signals for the speed, flight path angle, and heading angle to track the target. The paper considers both the cases of fixed and dynamically changing communication topologies. It is shown that target tracking is achieved for fixed connection topology, if the graph has a directed spanning tree; and for the dynamically changing topology, if the union of the graphs over finite time intervals has a directed spanning tree. The system’s stability is shown using a Lyapunov function-based approach for these cases. All tracking errors are shown to be bounded as long as the target states and its derivatives up to second order are bounded. Detailed numerical simulations further illustrate the controller performance.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Target tracking using multiple unmanned aerial vehicles: Graph theoretic nonlinear control approach


    Contributors:
    Subbarao, K (author) / Ahmed, M (author)


    Publication date :

    2017-03-01


    Size :

    17 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English





    Unknown ground moving target tracking using multiple unmanned aerial vehicles

    He, Shaoming / Wang, Jiang / Lin, Defu | SAGE Publications | 2019


    Ground Target Tracking for Unmanned Aerial Vehicles

    Oliveira, Tiago / Encarnação, Pedro | AIAA | 2010


    Ground Target Tracking for Unmanned Aerial Vehicles

    Oliveira, T. / Encarnacao, P. / American Institute of Aeronautics and Astronautics | British Library Conference Proceedings | 2010