Abstract
This paper is concerned with the target tracking problem of an autonomous surface vehicle in the presence of a maneuvering target. The velocity information of target is totally unknown to the follower vehicle, and only the relative distance and angle between the target and follower are obtained. First, a reduced-order extended state observer is used to estimate the unknown relative dynamics due to the unavailable velocity of the target. Based on the reduced-order extended state observer, an antidisturbance guidance law for target tracking is designed. The input-to-state stability of the closed-loop target tracking guidance system is analyzed via cascade theory. Furthermore, the above result is extended to the case that collisions between the target and leader are avoided during tracking, and a collision-free target tracking guidance law is developed. The main feature of the proposed guidance law is twofold. First, the target tracking can be achieved without using the velocity information of the target. Second, collision avoidance can be achieved during target tracking. Simulation results show the effectiveness of the proposed antidisturbance guidance law for tracking a maneuvering target with the arbitrary bounded velocity.
Highlights
Advanced motion control of marine vehicles has received significant attention due to its wide applications in hydrological monitoring, channel exclusion, search and rescue, biological detection, and so on [1,2,3,4,5,6,7]
The above result is extended to the case that collisions between the target and leader are avoided during tracking, and a collision-free target tracking guidance law is developed
Compared with the target tracking controllers proposed in [2, 10, 27,28,29,30, 34] where the collision avoidance problem is not considered, a collision-free reduced-order extended state observer (RESO)-based guidance law is proposed for target tracking of underactuated autonomous surface vehicles (ASVs) where the collision between the target and follower can be avoided
Summary
Advanced motion control of marine vehicles has received significant attention due to its wide applications in hydrological monitoring, channel exclusion, search and rescue, biological detection, and so on [1,2,3,4,5,6,7]. An antidisturbance guidance law for target tracking is designed based on the reduced-order extended state observer (RESO), where an ASV is requested to track a maneuvering target. The above result is extended to target tracking with collision avoidance of ASVs, and a collision-free RESO-based guidance law is developed. An antidisturbance guidance law for target tracking is designed based on the reduced-order extended state observer where target dynamics is not required to be known. Compared with the target tracking controllers proposed in [2, 10, 27,28,29,30, 34] where the collision avoidance problem is not considered, a collision-free RESO-based guidance law is proposed for target tracking of underactuated ASVs where the collision between the target and follower can be avoided.
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