{"title":"Prescribed-Time Target Enclosing and Tracking With Motion and Visibility Constraints","authors":"Jiayi Zheng;Shulong Zhao;Xiangke Wang","doi":"10.1109/JSYST.2024.3506560","DOIUrl":null,"url":null,"abstract":"This article investigates a prescribed-time method for multiple fixed-wing autonomous aerial vehicles (AAVs) to enclose and track a moving target based on relative measurements. Utilizing onboard sensors brings two main challenges, i.e., maintaining the target within the field-of-view and tracking a noncooperative target with limited information. To this end, a prescribed-time enclosing and tracking controller is proposed first, guaranteeing that multiple fixed-wing AAVs converge to the desired trajectories within a prescribed time subject to motion and visibility constraints. Then, considering the dilemma of the input saturation and prescribed-time convergence, a basis for selecting the proper prescribed time is analyzed by mathematical formulations. It is determined by different initial states and constraints rather than arbitrarily. Finally, comparison and simulation results verify the effectiveness of the proposed method within a prescribed time.","PeriodicalId":55017,"journal":{"name":"IEEE Systems Journal","volume":"19 1","pages":"224-233"},"PeriodicalIF":4.4000,"publicationDate":"2024-12-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Systems Journal","FirstCategoryId":"94","ListUrlMain":"https://ieeexplore.ieee.org/document/10783442/","RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"COMPUTER SCIENCE, INFORMATION SYSTEMS","Score":null,"Total":0}
引用次数: 0
Abstract
This article investigates a prescribed-time method for multiple fixed-wing autonomous aerial vehicles (AAVs) to enclose and track a moving target based on relative measurements. Utilizing onboard sensors brings two main challenges, i.e., maintaining the target within the field-of-view and tracking a noncooperative target with limited information. To this end, a prescribed-time enclosing and tracking controller is proposed first, guaranteeing that multiple fixed-wing AAVs converge to the desired trajectories within a prescribed time subject to motion and visibility constraints. Then, considering the dilemma of the input saturation and prescribed-time convergence, a basis for selecting the proper prescribed time is analyzed by mathematical formulations. It is determined by different initial states and constraints rather than arbitrarily. Finally, comparison and simulation results verify the effectiveness of the proposed method within a prescribed time.
期刊介绍：
This publication provides a systems-level, focused forum for application-oriented manuscripts that address complex systems and system-of-systems of national and global significance. It intends to encourage and facilitate cooperation and interaction among IEEE Societies with systems-level and systems engineering interest, and to attract non-IEEE contributors and readers from around the globe. Our IEEE Systems Council job is to address issues in new ways that are not solvable in the domains of the existing IEEE or other societies or global organizations. These problems do not fit within traditional hierarchical boundaries. For example, disaster response such as that triggered by Hurricane Katrina, tsunamis, or current volcanic eruptions is not solvable by pure engineering solutions. We need to think about changing and enlarging the paradigm to include systems issues.
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