Journal of Jilin University(Engineering and Technology Edition) ›› 2023, Vol. 53 ›› Issue (3): 923-932.doi: 10.13229/j.cnki.jdxbgxb20221166

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On fixed⁃time multi⁃target localization and circumnavigation control using bearing measurements

Jiang-ping HU1,2(),Zi-can ZHOU1,Bo CHEN1   

  1. 1.School of Automation Engineering，University of Electronic Science and Technology of China，Chengdu 611731，China
    2.Yangtze Delta Region Institute （Huzhou），University of Electronic Science and Technology of China，Huzhou 313001，China
  • Received:2022-09-08 Online:2023-03-01 Published:2023-03-29

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Abstract:

For circumnavigation control of a multi-UAV system with multiple static targets was proposed bearing measurement based target localization and circumnavigation control algorithms to ensure that the multi-UAV system can realize the target localization and circumnavigation in fixed time. First， A bearing measurement based fixed-time target localization algorithm was designed for the leader-UAV to compute the position of each target，and a fixed-time observer was proposed for each follower-UAV to estimate the targets' center and the position of the leader-UAV. Then， a distributed fixed-time circumnavigation control algorithm was designed for the multi-UAV system to ensure the system realize a uniformly distributed circumnavigation of the multiple targets. Finally， numerical simulation experiment verifies the effectiveness of the proposed circumnavigation control algorithm.

Key words: multi-UAV formation, fixed-time control, distributed estimation and localization, circumnavigation control, bearing measurement

CLC Number: 

  • TP13

Fig.1

Communication topology of UAV formation"

Fig.2

Change of target position estimation"

Fig.3

Change of target localization error"

Fig.4

Realization effect of single UAV circumnavigation positioning algorithm"

Fig.5

Change of estimation error of follower UAV"

Fig.6

Target circumnavigation of UAV formation"

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