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Decentralised standoff tracking of moving targets using adaptive sliding mode control for UAVs
journal contribution
posted on 2014-10-15, 14:27 authored by Hyondong Oh, Seungkeun Kim, Antonios Tsourdos, Brian A. WhiteThis 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.
History
School
- Aeronautical, Automotive, Chemical and Materials Engineering
Department
- Aeronautical and Automotive Engineering
Published in
Journal of Intelligent and Robotic SystemsVolume
76Pages
169 - 183Citation
OH, 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 MediaVersion
- AM (Accepted Manuscript)
Publisher statement
This 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/Publication date
2014Notes
The final publication is available at Springer via http://dx.doi.org/10.1007/s10846-013-9864-0ISSN
0921-0296Publisher version
Language
- en