Cooperative Target-capturing with Incomplete Target Information

Abstract

This paper presents a distributed target-centric formation control strategy for multiple unmanned aerial vehicles (UAVs) in the presence of target motion uncertainty. The formation is maintained around a target using a combination of a consensus protocol and a sliding mode control law. Consensus helps in distributing the target information which is available only to a subset of vehicles. Sliding mode control compensates for the uncertainty in the target information. Hence, collectively the combined strategy enforces each of the vehicle to maintain respective position in a formation. We show that if at least one vehicle in a group has target information with some uncertainty and the corresponding communication graph is connected, then a target-centric formation can be maintained. The performance of the proposed strategy is verified through simulations.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2013
Accession Number
ADA592848

Entities

People

  • Daniel Pack
  • Ian Postlethwaite
  • Mangal Kothari
  • Rajnikant Sharma
  • Randy Beard

Organizations

  • United States Air Force Academy

Tags

Communities of Interest

  • Air Platforms
  • Autonomy

DTIC Thesaurus Topics

  • Aircrafts
  • Artificial Intelligence
  • Cooperative Control
  • Electronic Mail
  • Engineering
  • Information Exchange
  • Maneuvers
  • Multiagent Systems
  • Orientation (Direction)
  • Robotics
  • Robots
  • Simulations
  • Target Tracking
  • Trajectories
  • Uncertainty
  • Unmanned Aerial Vehicles
  • Vehicles

Fields of Study

  • Engineering

Readers

  • Aerial Unmanned Vehicle Swarm Micro Periodontal Dentistry.
  • Cybersecurity.
  • Systems Analysis and Design

Technology Areas

  • Autonomy
  • Autonomy - Autonomous System Control