Multiple non-cooperative targets encirclement by relative distance based positioning and neural anti-synchronization control
From prehistoric encirclement for hunting to GPS orbiting the earth for positioning, target encirclement has numerous real world applications. However, encircling multiple non-cooperative targets in GPS-denied environments remains challenging. In this work, multiple targets encirclement by using a m...
Saved in:
Main Authors: | , , , , |
---|---|
Other Authors: | |
Format: | Article |
Language: | English |
Published: |
2023
|
Subjects: | |
Online Access: | https://hdl.handle.net/10356/166737 |
Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
Institution: | Nanyang Technological University |
Language: | English |
id |
sg-ntu-dr.10356-166737 |
---|---|
record_format |
dspace |
spelling |
sg-ntu-dr.10356-1667372023-05-08T06:56:38Z Multiple non-cooperative targets encirclement by relative distance based positioning and neural anti-synchronization control Liu, Fen Yuan, Shenghai Meng, Wei Su, Rong Xie, Lihua School of Electrical and Electronic Engineering Engineering::Electrical and electronic engineering Distributed Anti-Synchronization Controller Non-Cooperative Unknown Targets From prehistoric encirclement for hunting to GPS orbiting the earth for positioning, target encirclement has numerous real world applications. However, encircling multiple non-cooperative targets in GPS-denied environments remains challenging. In this work, multiple targets encirclement by using a minimum of two tasking agents, is considered where the relative distance measurements between the agents and the targets can be obtained by using onboard sensors. Based on the measurements, the center of all the targets is estimated directly by a fuzzy wavelet neural network (FWNN) and the least squares fit method. Then, a new distributed anti-synchronization controller (DASC) is designed so that the two tasking agents are able to encircle all targets while staying opposite to each other. In particular, the radius of the desired encirclement trajectory can be dynamically determined to avoid potential collisions between the two agents and all targets. Based on the Lyapunov stability analysis method, the convergence proofs of the neural network prediction error, the target-center position estimation error, and the controller error are addressed respectively. Finally, both numerical simulations and UAV flight experiments are conducted to demonstrate the validity of the encirclement algorithms. The flight tests recorded video and other simulation results can be found in https://youtu.be/B8uTorBNrl4 Agency for Science, Technology and Research (A*STAR) National Research Foundation (NRF) This work was partially supported by the National Natural Science Foundation of China (U21A20476, 62033003), Guangdong Introducing Innovative and Entrepreneurial Teams (2019ZT08X340) of Guangdong Province, the Local Innovative and Research Teams Project of Guangdong Special Support Program (2019BT02X353), the Agency for Science, Technology and Research (A*STAR) under its IAF-ICP Programme I2001E0067, via the COSMO WP5 project, the National Research Foundation, Singapore, under its Medium-Sized Center for Advanced Robotics Technology Innovation (CARTIN). 2023-05-08T06:56:37Z 2023-05-08T06:56:37Z 2023 Journal Article Liu, F., Yuan, S., Meng, W., Su, R. & Xie, L. (2023). Multiple non-cooperative targets encirclement by relative distance based positioning and neural anti-synchronization control. IEEE Transactions On Industrial Electronics. https://dx.doi.org/10.1109/TIE.2023.3257364 0278-0046 https://hdl.handle.net/10356/166737 10.1109/TIE.2023.3257364 en I2001E0067 IEEE Transactions on Industrial Electronics © 2023 IEEE. All rights reserved. |
institution |
Nanyang Technological University |
building |
NTU Library |
continent |
Asia |
country |
Singapore Singapore |
content_provider |
NTU Library |
collection |
DR-NTU |
language |
English |
topic |
Engineering::Electrical and electronic engineering Distributed Anti-Synchronization Controller Non-Cooperative Unknown Targets |
spellingShingle |
Engineering::Electrical and electronic engineering Distributed Anti-Synchronization Controller Non-Cooperative Unknown Targets Liu, Fen Yuan, Shenghai Meng, Wei Su, Rong Xie, Lihua Multiple non-cooperative targets encirclement by relative distance based positioning and neural anti-synchronization control |
description |
From prehistoric encirclement for hunting to GPS orbiting the earth for positioning, target encirclement has numerous real world applications. However, encircling multiple non-cooperative targets in GPS-denied environments remains challenging. In this work, multiple targets encirclement by using a minimum of two tasking agents, is considered where the relative distance measurements between the agents and the targets can be obtained by using onboard sensors. Based on the measurements, the center of all the targets is estimated directly by a fuzzy wavelet neural network (FWNN) and the least squares fit method. Then, a new distributed anti-synchronization controller (DASC) is designed so that the two tasking agents are able to encircle all targets while staying opposite to each other. In particular, the radius of the desired encirclement trajectory can be dynamically determined to avoid potential collisions between the two agents and all targets. Based on the Lyapunov stability analysis method, the convergence proofs of the neural network prediction error, the target-center position estimation error, and the controller error are addressed respectively. Finally, both numerical simulations and UAV flight experiments are conducted to demonstrate the validity of the encirclement algorithms. The flight tests recorded video and other simulation results can be found in https://youtu.be/B8uTorBNrl4 |
author2 |
School of Electrical and Electronic Engineering |
author_facet |
School of Electrical and Electronic Engineering Liu, Fen Yuan, Shenghai Meng, Wei Su, Rong Xie, Lihua |
format |
Article |
author |
Liu, Fen Yuan, Shenghai Meng, Wei Su, Rong Xie, Lihua |
author_sort |
Liu, Fen |
title |
Multiple non-cooperative targets encirclement by relative distance based positioning and neural anti-synchronization control |
title_short |
Multiple non-cooperative targets encirclement by relative distance based positioning and neural anti-synchronization control |
title_full |
Multiple non-cooperative targets encirclement by relative distance based positioning and neural anti-synchronization control |
title_fullStr |
Multiple non-cooperative targets encirclement by relative distance based positioning and neural anti-synchronization control |
title_full_unstemmed |
Multiple non-cooperative targets encirclement by relative distance based positioning and neural anti-synchronization control |
title_sort |
multiple non-cooperative targets encirclement by relative distance based positioning and neural anti-synchronization control |
publishDate |
2023 |
url |
https://hdl.handle.net/10356/166737 |
_version_ |
1770564868848484352 |