Loughborough University
Leicestershire, UK
LE11 3TU
+44 (0)1509 263171
Loughborough University

Loughborough University Institutional Repository

Please use this identifier to cite or link to this item: https://dspace.lboro.ac.uk/2134/16087

Title: Decentralised standoff tracking of moving targets using adaptive sliding mode control for UAVs
Authors: Oh, Hyondong
Kim, Seungkeun
Tsourdos, Antonios
White, Brian A.
Keywords: UAV
Standoff tracking
Vector field guidance
Sliding mode control
Decentralised estimation and guidance
Issue Date: 2014
Publisher: © Springer Science and Business Media
Citation: 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.
Abstract: 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.
Description: The final publication is available at Springer via http://dx.doi.org/10.1007/s10846-013-9864-0
Version: Accepted for publication
DOI: 10.1007/s10846-013-9864-0
URI: https://dspace.lboro.ac.uk/2134/16087
Publisher Link: http://dx.doi.org/10.1007/s10846-013-9864-0
ISSN: 0921-0296
Appears in Collections:Published Articles (Aeronautical and Automotive Engineering)

Files associated with this item:

File Description SizeFormat
Main_Decentralised_ASMC.pdfAccepted version5.21 MBAdobe PDFView/Open


SFX Query

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.