Cooperative Target Tracking of Multiple UMVs Under Switching Topologies

This chapter is concerned with the cooperative target trackingTarget tracking of multiple UMVsUnmanned Marine Vehicles (UMVs) under switching network topologies. For the target to be tracked, only its position can be measured/received by some of the UMVsUnmanned Marine Vehicles (UMVs), and its velocity is unavailable to all the UMVsUnmanned Marine Vehicles (UMVs). A distributed extended state observer considering switching topologiesSwitching topologies is designed to integrally estimate unknown target dynamics and neighboring UMVs’Unmanned Marine Vehicles (UMVs) dynamics. Accordingly, a novel kinematic controller is designed, which takes full advantage of known information and avoids the approximation of some virtual control vectors. Moreover, a disturbance observer is presented to estimate unknown time-varying environmental disturbances. Furthermore, a distributed dynamic controller is designed to regulate the involved UMVsUnmanned Marine Vehicles (UMVs) to cooperatively track the target.