...
  • 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>International Journal of Adaptive Control and Signal Processing >Adaptive range-measurement-based target pursuit
【24h】

Adaptive range-measurement-based target pursuit

机译：基于自适应测距的目标追踪

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

This paper presents an adaptive scheme for localization of a target from distance measurements and motion control of a mobile agent to pursue this target. The localization and motion control task of interest is approached within a parameter-identifier-based adaptive control framework, where the localization is formulated as a parameter identification problem and the motion control is achieved using an adaptive controller based on the produced location estimates of the target. First, a robust adaptive law is designed to generate location estimate of the target using distance measurements. Then, following the standard certainty equivalence approach, a motion control law is developed considering substitution of the estimate generated by the localization algorithm for the unknown location of the target. Noting that there is some incompatibility between the persistence of excitation requirements of the localization algorithm and the target pursuit goal of the motion control law, the base motion control law is (re)designed to eliminate the effects of this incompatibility. The novelty of this paper is in this motion control design eliminating the persistence of excitation incompatibility. Stability and convergence analysis for the overall adaptive control scheme is presented. The results are valid in both two and three dimensions of motion space. The applications of the adaptive scheme include rescue localization, surveillance of signal sources, and formation acquisition of autonomous multi-robot/vehicle systems.
机译：本文提出了一种用于根据距离测量值和移动代理的运动控制来定位目标的自适应方案，以实现该目标。在基于参数标识符的自适应控制框架内处理感兴趣的定位和运动控制任务，其中将定位公式化为参数识别问题，并使用自适应控制器基于目标的位置估计值实现运动控制。首先，设计鲁棒的自适应定律，以使用距离测量值生成目标的位置估计。然后，遵循标准确定性等效方法，考虑到将定位算法生成的估计值替换为目标的未知位置，从而制定了运动控制律。注意到定位算法的激励要求的持久性与运动控制定律的目标追求目标之间存在一些不兼容，因此设计（重新）设计了基本运动控制律以消除这种不兼容的影响。本文的新颖之处在于该运动控制设计消除了励磁不兼容的持续性。提出了整体自适应控制方案的稳定性和收敛性分析。结果在运动空间的二维和三个维度上都是有效的。自适应方案的应用包括救援定位，信号源监视和自主多机器人/车辆系统的编队获取。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号