Model-Based Event-Triggered Multi-Vehicle Coordinated Tracking with Communication Delays

Abstract

This report studies the coordinated tracking problem where a group of followers intercepts a dynamic leader. It is shown in this paper that reduction of inter-agent communication is obtained and improved performance is achieved by implementing dynamical models of the leader and followers and by using an event-triggered control strategy that requires each agent to send measurement updates only when necessary. Communication delays are considered in this work and it is shown how the model-based approach can be used for time propagation of delayed measurements to obtain estimates of current positions of other agents in the network. Performance bounds on the tracking error have been obtained, which are functions of the communication topology, the event thresholds, and the time delays.

Open PDF

Document Details

Document Type
Technical Report
Publication Date
Feb 01, 2013
Accession Number
ADA582413

Entities

People

  • David W. Casbeer
  • Eloy García
  • Yongcan Cao

Organizations

  • Infoscitex Corporation

Tags

Communities of Interest

  • Space

DTIC Thesaurus Topics

  • Air Force
  • Air Force Facilities
  • Air Force Research Laboratories
  • Communication Channels
  • Cooperative Control
  • Department Of Defense
  • Dynamics
  • Equations
  • Equations Of State
  • Information Operations
  • Mathematics
  • Measurement
  • Military Research
  • Sampling
  • Topology
  • United States

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Agent-Based Social Robotics and Mobile-Assisted Learning in Virtual Environments.
  • Radio communications and signal processing.