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Decentralised standoff tracking of moving targets using adaptive sliding mode control for UAVs
journal contributionposted on 2014-10-15, 14:27 authored by Hyondong Oh, Seungkeun Kim, Antonios Tsourdos, Brian A. White
This paper proposes a decentralised vector field guidance algorithm for coordinated standoff tracking of a ground moving target by multiple UAVs. In particular, this study introduces additional adaptive terms in an existing sliding mode control concept for standoff tracking guidance, in order to reduce the effect of unmodelled dynamics and disturbances. Decentralised angular separation control between UAVs, in conjunction with decentralised estimation, is also introduced using either velocity or orbit radius change by different information/communication structures. Numerical simulations are performed to verify the feasibility and benefits of the proposed approach under a realistic ground vehicle tracking scenario, using multiple UAVs having unknown parameters in the heading-hold autopilot.
- Aeronautical, Automotive, Chemical and Materials Engineering
- Aeronautical and Automotive Engineering
Published inJournal of Intelligent and Robotic Systems
Pages169 - 183
CitationOH, H. ... et al, 2014. Decentralised standoff tracking of moving targets using adaptive sliding mode control for UAVs. Journal of Intelligent and Robotic Systems, 76 (1), pp.169-183.
Publisher© Springer Science and Business Media
- AM (Accepted Manuscript)
Publisher statementThis work is made available according to the conditions of the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International (CC BY-NC-ND 4.0) licence. Full details of this licence are available at: https://creativecommons.org/licenses/by-nc-nd/4.0/
NotesThe final publication is available at Springer via http://dx.doi.org/10.1007/s10846-013-9864-0