![](/images/graphics-bg.png)
Extended-State-Observer-Based Collision-Free Guidance Law for Target Tracking of Autonomous Surface Vehicles with Unknown Target Dynamics
Joint Authors
Gao, Shengnan
Peng, Zhouhua
Liu, Lu
Wang, Dan
Source
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-12-13
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Gao, Shengnan& Peng, Zhouhua& Wang, Dan& Liu, Lu. 2018. Extended-State-Observer-Based Collision-Free Guidance Law for Target Tracking of Autonomous Surface Vehicles with Unknown Target Dynamics. Complexity،Vol. 2018, no. 2018, pp.1-10.
https://search.emarefa.net/detail/BIM-1134004
Modern Language Association (MLA)
Gao, Shengnan…[et al.]. Extended-State-Observer-Based Collision-Free Guidance Law for Target Tracking of Autonomous Surface Vehicles with Unknown Target Dynamics. Complexity No. 2018 (2018), pp.1-10.
https://search.emarefa.net/detail/BIM-1134004
American Medical Association (AMA)
Gao, Shengnan& Peng, Zhouhua& Wang, Dan& Liu, Lu. Extended-State-Observer-Based Collision-Free Guidance Law for Target Tracking of Autonomous Surface Vehicles with Unknown Target Dynamics. Complexity. 2018. Vol. 2018, no. 2018, pp.1-10.
https://search.emarefa.net/detail/BIM-1134004
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1134004